Climbing robot actuated by meso-hydraulic artificial muscles

Matthew Bryant; Jason Fitzgerald; Samuel Miller; Jonah Saltzman; Sangkyu Kim; Yong Lin; Ephrahim Garcia

doi:10.1117/12.2046368

9 March 2014 Climbing robot actuated by meso-hydraulic artificial muscles

Matthew Bryant, Jason Fitzgerald, Samuel Miller, Jonah Saltzman, Sangkyu Kim, Yong Lin, Ephrahim Garcia

Proceedings Volume 9057, Active and Passive Smart Structures and Integrated Systems 2014; 90570H (2014) https://doi.org/10.1117/12.2046368
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

Abstract

This paper presents the design, construction, experimental characterization, and system testing of a legged, wall-climbing robot actuated by meso-scale hydraulic artificial muscles. While small wall-climbing robots have seen increased research attention in recent years, most authors have primarily focused on designs for the gripping and adhesion of the robot to the wall, while using only standard DC servo-motors for actuation. This project seeks to explore and demonstrate a different actuation mechanism that utilizes hydraulic artificial muscles. A four-limb climbing robot platform that includes a full closed-loop hydraulic power and control system, custom hydraulic artificial muscles for actuation, an on-board microcontroller and RF receiver for control, and compliant claws with integrated sensing for gripping a variety of wall surfaces has been constructed and is currently being tested to investigate this actuation method. On-board power consumption data-logging during climbing operation, analysis of the robot kinematics and climbing behavior, and artificial muscle force-displacement characterization are presented to investigate and this actuation method.

Citation Download Citation

Matthew Bryant, Jason Fitzgerald, Samuel Miller, Jonah Saltzman, Sangkyu Kim, Yong Lin, and Ephrahim Garcia "Climbing robot actuated by meso-hydraulic artificial muscles", Proc. SPIE 9057, Active and Passive Smart Structures and Integrated Systems 2014, 90570H (9 March 2014); https://doi.org/10.1117/12.2046368

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