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Development of a Dynamic Bipedal Climbing and Multi-Modal Robotic Platform

Title: Development of a Dynamic Bipedal Climbing and Multi-Modal Robotic Platform.
Name(s): Dickson, James, author
Clark, Jonathan, professor directing thesis
Taira, Kunihiko, committee member
Hollis, Patrick, committee member
Department of Mechanical Engineering, degree granting department
Florida State University, degree granting institution
Type of Resource: text
Genre: Text
Issuance: monographic
Date Issued: 2012
Publisher: Florida State University
Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource
Language(s): English
Abstract/Description: Animals often exhibit the ability to operate in and transition between multiple modes of locomotion efficiently and elegantly. On the other hand, robotic platforms have typically focused on a single mode of locomotion. This thesis presents the conceptual development, design, and verification of a robotic platform capable of locomotion in scansorial and aerial regimes based on biological analogs. A review of related work is conducted on animals, previous climbing platforms, and multi-modal robots. A 2D dynamics simulation is developed and the effect of sprawl angle simulated. The development of a miniature bipedal dynamic climbing platform is discussed and an experimental investigation on the effect of sprawl angle on dynamic climbing conducted. The platform design for a multi-modal climbing and gliding robot is presented and a discussion on the trade-offs for multi-modal locomotion presented. The multi-modal platform, ICAROS, is experimentally operated to verify the design specifications. The resulting ICAROS platform demonstrates climbing prepared vertical surfaces and transitioning to a glide path with performance characteristics comparable to its biological counterparts.
Identifier: FSU_migr_etd-4798 (IID)
Submitted Note: A Thesis submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science.
Degree Awarded: Spring Semester, 2012.
Date of Defense: March 21, 2012.
Keywords: Aerial Locomotion, Biomimetic, Multi-modal, Scansorial
Bibliography Note: Includes bibliographical references.
Advisory Committee: Jonathan Clark, Professor Directing Thesis; Kunihiko Taira, Committee Member; Patrick Hollis, Committee Member.
Subject(s): Mechanical engineering
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Host Institution: FSU

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Dickson, J. (2012). Development of a Dynamic Bipedal Climbing and Multi-Modal Robotic Platform. Retrieved from