TWiki > Rise Web>ClimbingRobot > RobotAnalysis>StaticModeling (25 Mar 2006, DanielSantos? )
-- DanielSantos? - 25 Mar 2006

Static Modeling

This is the parent page for various static modeling efforts relating to climbing robots and animals.

Contains initial 2D models of 2-legged structure on inclined planes. Contains introduction to the use of internal body forces for maximizing stability

  • FrictionAdhesionOptimization? :
Contains 3D model of gecko/robot with 4 legs. For contact contstraints uses a 3D "Frictional Adhesion" model adapted from a 2D model. Uses a linear programming optimization to find best set of internal body forces for stability. Explores the stability as a function of front and rear foot orientations and surface inclinations.

  • AnisotropicIsotropicExample?
  • AnisotropicIsotropicExample2?

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