SCALER: A Tough Versatile Quadruped Free-Climber Robot
| Autor: | Tanaka, Yusuke, Shirai, Yuki, Lin, Xuan, Schperberg, Alexander, Kato, Hayato, Swerdlow, Alexander, Kumagai, Naoya, Hong, Dennis |
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| Rok vydání: | 2022 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | This paper introduces SCALER, a quadrupedal robot that demonstrates climbing on bouldering walls, overhangs, ceilings and trotting on the ground. SCALER is one of the first high-degrees of freedom four-limbed robots that can free-climb under the Earth's gravity and one of the most mechanically efficient quadrupeds on the ground. Where other state-of-the-art climbers specialize in climbing, SCALER promises practical free-climbing with payload \textit{and} ground locomotion, which realizes true versatile mobility. A new climbing gait, SKATE gait, increases the payload by utilizing the SCALER body linkage mechanism. SCALER achieves a maximum normalized locomotion speed of $1.87$ /s, or $0.56$ m/s on the ground and $1.0$ /min, or $0.35$ m/min in bouldering wall climbing. Payload capacity reaches $233$ % of the SCALER weight on the ground and $35$ % on the vertical wall. Our GOAT gripper, a mechanically adaptable underactuated two-finger gripper, successfully grasps convex and non-convex objects and supports SCALER. Comment: Proceeding to IROS 2022, Preprint and not a final version |
| Databáze: | arXiv |
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