Hacked Gadgets Forum

March 11, 2006

Tree Climbing Robot

at 1:49 pm. Filed under Complex Hacks, Electronic Hacks

Yes tree climbing robots are a reality. It was developed by studying how animals are able to climb vertical surfaces.
“The goal of the RiSE project is to create a bioinspired climbing robot with the unique ability to walk on land and climb on vertical surfaces. Active research studies novel robot kinematics, precision-manufactured compliant feet and appendages, and advanced robot behaviors. This project is funded by the DARPA Biodynotics Program.”

Here is what makes it tick:
The RiSE platform runs QNX 6.1.0 on a Geode 266MHz processor. The body (v1.0) contains 12 Maxon RE motors and a 4-bar linkage connected through a differential (v1.2 uses a belt drive system) that reveals 2 DOF (wing and crank angle) per leg. The leg position is controlled by RMCs (RiSE motor controller) that use PD control. Currently the body uses LSANs (leg sensing and actuation node) to collect sensor info (accelerometer, potentiometer on 4-bar joint) for feedback. Generarally, BDI designed the robot hardware, CMU devloped the software by CMU, and Stanford is devlopming the feet and some related sensing.

See more videos of RISE robots here.

More Info: Stanford, Boston Dynamics, Berkley


 

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2 Responses to “Tree Climbing Robot”

  1. Hacked Gadgets » Blog Archive » Big Dog by Boston Dynamics Says:

    [...] Big Dog is fantastic looking machine being created by Boston Dynamics. DARPA is funding development of Big Dog, they have also funded development of the Tree Climbing Robot. “BigDog has an on-board computer that controls locomotion, servos the legs and handles a wide variety of sensors. BigDog’s control system manages the dynamics of its behavior to keep it balanced, steer, navigate, and regulate energetics as conditions vary. Sensors for locomotion include joint position, joint force, ground contact, ground load, a laser gyroscope, and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine temperature, rpm, battery charge and others. So far, BigDog has trotted at 3.3 mph, climbed a 35 degree slope and carried a 120 lb load. BigDog is being developed by Boston Dynamics with help from Foster Miller, the Jet Propulsion Laboratory, and the Harvard University Concord Field Station. Development is funded by the DARPA Defense Sciences Office.” [...]

  2. ebrahim Says:

    peles more information

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