The ParkourBot - A dynamic BowLeg climbing robot

Amir Degani; Siyuan Feng; H. Benjamin Brown; Kevin M. Lynch; Howie Choset; Matthew T. Mason

doi:10.1109/ICRA.2011.5979937

The ParkourBot - A dynamic BowLeg climbing robot

Amir Degani^*, Siyuan Feng, H. Benjamin Brown, Kevin M. Lynch, Howie Choset, Matthew T. Mason

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to "kick off" the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

Original language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	795-801
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5979937
State	Published - 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	5/9/11 → 5/13/11

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ICRA.2011.5979937

Cite this

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title = "The ParkourBot - A dynamic BowLeg climbing robot",

abstract = "The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to {"}kick off{"} the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.",

author = "Amir Degani and Siyuan Feng and {Benjamin Brown}, H. and Lynch, {Kevin M.} and Howie Choset and Mason, {Matthew T.}",

year = "2011",

doi = "10.1109/ICRA.2011.5979937",

language = "English (US)",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "795--801",

booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",

note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

}

Degani, A, Feng, S, Benjamin Brown, H, Lynch, KM, Choset, H & Mason, MT 2011, The ParkourBot - A dynamic BowLeg climbing robot. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979937, Proceedings - IEEE International Conference on Robotics and Automation, pp. 795-801, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979937

TY - GEN

T1 - The ParkourBot - A dynamic BowLeg climbing robot

AU - Degani, Amir

AU - Feng, Siyuan

AU - Benjamin Brown, H.

AU - Lynch, Kevin M.

AU - Choset, Howie

AU - Mason, Matthew T.

PY - 2011

Y1 - 2011

N2 - The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to "kick off" the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

AB - The ParkourBot is an efficient and dynamic climbing robot. The robot comprises two springy legs connected to a body. Leg angle and spring tension are independently controlled. The robot climbs between two parallel walls by leaping from one wall to the other. During flight, the robot stores elastic energy in its springy legs and automatically releases the energy to "kick off" the wall during touch down. This paper elaborates on the mechanical design of the ParkourBot. We use a simple SLIP model to simulate the ParkourBot motion and stability. Finally, we detail experimental results, from open-loop climbing motions to closed-loop stabilization of climbing height in a planar, reduced gravity environment.

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DO - 10.1109/ICRA.2011.5979937

M3 - Conference contribution

AN - SCOPUS:84870894188

SN - 9781612843865

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 795

EP - 801

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

The ParkourBot - A dynamic BowLeg climbing robot

Abstract

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ASJC Scopus subject areas

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