Dingxin Ge

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It is necessary to know the air inflow of suction cup for the designing of a new passive suction cup, which not only could easily attach and detach, but also could keep long adsorption time. This paper proposes a method to calculate the air inflow and its speed, which is easy to implement since it only requires a pressure sensor. Before calculating the air(More)
This paper designs a guide rail for a wall-climbing robot based on passive suction cups. The designed guide rail can guarantee stable climbing of a wall-climbing robot. Firstly, to design the parameters of the guide rail, properties of the utilized passive suction cup are experimentally studied. Then a guide rail is designed to distribute the forces of the(More)
In this paper, we propose a novel configuration of a multi-legged robot which has only one degree of freedom in each leg and a passive body segment joint between each pair of body segments. With this configuration, a robot can perform planar legged locomotion with less actuators than the conventional legged robots. To model the mobility of a robot with this(More)
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