Date of Award

5-31-2005

Document Type

Thesis (Undergraduate)

Department or Program

Department of Computer Science

First Advisor

Devin Balkcom

Abstract

The goal of this thesis was to build a simple toy rock climbing robot, and to explore problems related to grasping, path planning, and robot control. The robot is capable of climbing a wall of pegs either under manual control through a host system and an infrared interface, or on the basis of a set of pre-recorded keyframes. In addition, the robot can climb certain peg configurations using a cyclic gait. The robot climbs in an open-loop mode without sensor feedback. All communications are sent through the IR connection, and the tether to the robot consists only of two power wires.

Comments

Originally posted in the Dartmouth College Computer Science Technical Report Series, number TR2005-542.

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