A novel frame climbing robot: Frambot

@article{Chung2011ANF,
  title={A novel frame climbing robot: Frambot},
  author={Wingkwong Chung and Yangsheng Xu},
  journal={2011 IEEE International Conference on Robotics and Biomimetics},
  year={2011},
  pages={2559-2566}
}
In this paper, we present a novel frame climbing robot, called Frambot which aims to climb on non-enclosable rectangular trusses. Frambot weighs only 1.6kg and consists of two grippers connected by a body linkage. For the grippers of Frambot, it provides not only the grasp on a truss structure, but also allows a linear truss climbing motion. Based on the mobility of Frambot, we propose new climbing gaits which aim to enhance the stability of truss climbing by reducing the extra angular moment… CONTINUE READING

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