J.E. Clark and D.E. Koditschek
University of Pennsylvania, Philadelphia, PA, USA
A dynamic model of running-the spring-loaded inverted pendulum (SLIP)-has proven effective in describing the force patterns found in a wide variety of of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion, has on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operation. This paper introduces a one degree of freedom model of a climbing robot used to investigate the power constraints involved with climbing in a dynamic manner. Particular Attention is paid to understanding how springs and body dynamics can be exploited to help relieve a limited power/weight ratio and achieve dynamic running and climbing.