| Citation: | Yue Ronggang, Wang Shaoping. Dynamic modeling for a climbing robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(5): 640-644. (in Chinese)
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City-Climber robot is a novel wall-climbing robot which has the capability to move on floors, climb walls, walk on ceilings, and transit between them. In order to research 3D path planning problem, kinematic modeling and dynamic modeling for the City-Climber robot in a cuboid room were built. The dynamics model includes three sub-models which can describe that City-Climber moves on floors, walls and ceilings respectively. Non-dimensional variables were introduced to simplify the models. The correctness of the model was verified by simulation results given by Matlab software since the trajectories match the expected practical motion of the robot. The models are suitable for solving path planning and obstacle avoidance problems in 3D building environments.
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