TY - GEN
T1 - Flippy
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
AU - Malley, Melinda
AU - Rubenstein, Michael
AU - Nagpal, Radhika
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Climbing robots have many potential applications including maintenance, monitoring, search and rescue, and self-assembly. While numerous climbing designs have been investigated, most are limited to stiff components. Flippy (Fig. 1) is a small, flipping biped robot with a soft, flexible body and on-board power and control. Due to its built-in compliance, flipping gait, and corkscrew gripper, it can autonomously climb up and down surfaces held at any angle relative to gravity and transition from one surface to another, without complex sensing or control. In this paper, we demonstrate the robot's ability to flip consistently over a flat Velcro surface and 2D Velcro track, where it reliably climbs vertically, upside down and back to a flat surface, completing all the interior transitions in-between.
AB - Climbing robots have many potential applications including maintenance, monitoring, search and rescue, and self-assembly. While numerous climbing designs have been investigated, most are limited to stiff components. Flippy (Fig. 1) is a small, flipping biped robot with a soft, flexible body and on-board power and control. Due to its built-in compliance, flipping gait, and corkscrew gripper, it can autonomously climb up and down surfaces held at any angle relative to gravity and transition from one surface to another, without complex sensing or control. In this paper, we demonstrate the robot's ability to flip consistently over a flat Velcro surface and 2D Velcro track, where it reliably climbs vertically, upside down and back to a flat surface, completing all the interior transitions in-between.
UR - http://www.scopus.com/inward/record.url?scp=85041943457&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2017.8206563
DO - 10.1109/IROS.2017.8206563
M3 - Conference contribution
AN - SCOPUS:85041943457
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6533
EP - 6540
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 September 2017 through 28 September 2017
ER -