RiSE (Robots in Scansorial Environments) 

In addition to dynamic running robots we are interested in developing legged robotic machines capable of a range of behaviors, including climbing vertical walls. At Penn Dr. Clark was associated with the DARPA sponsored RiSE project.   RiSE is an extremely versatile quasi-static climber.  Due to its adaptive gait controllers and innovative feet, the robot has no trouble climbing surfaces such as trees, stucco, and even brick walls. Ongoing tasks in which we are involved include analyzing the power managment of the robot and looking at methods of expanding the range of availabe gaits by designing and exploiting the passive compliance in the structure. For more on RiSE, see Boston Dynamics or Stanford's Biomimetics & Dextrous Manipulation Laboratory.

Press
 technovelgy.com

Sample Publications:

"Scaling hard vertical surfaces with compliant microspine arrays", Asbeck, A; Sangbae, K; Cutkosky, M; Provancher, W; Lanzetta, M; Proceedings of Robotics: Science and Systems, June 2005; Cambridge, USA.

"The RiSE Climbing Robot: Body and Leg Design", A. Saunders, D. I. Goldman, R. J. Full, and M. Buehler; Unmanned Systems Technology VIII, SPIE, 6230, 623017 (2006).

"Gait Regulation and Feedback on a Robotic Climbing Hexapod", G. Haynes and A. Rizzi ; Proceedings of Robotics: Science and Systems II, August 2006; Philadelphia, PA, USA.

"Robotics in Scansorial Environments", Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert J. Full, Daniel Goldman, Richard Groff, William Provancher, Alfred E. Rizzi, Uluc Saranli, Aaron Saunders and Daniel Koditschek; in Unmanned Ground Vehicle Technology VII, eds. Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage, Proceedings of SPIE Vol. 5804, 291-302 (2005).

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