A toy rock climbing robot Dartmouth Technical Report TR2005-542 Matthew P. Bell Date: August 2005 URL (PDF): (1088KB) Abstract: The goal of this thesis was to build a simple toy rock climbing robot, and to explore problems related to grasping, path planning, and robot control. The robot is capable of climbing a wall of pegs either under manual control through a host system and an infrared interface, or on the basis of a set of pre-recorded keyframes. In addition, the robot can climb certain peg configurations using a cyclic gait. The robot climbs in an open-loop mode without sensor feedback. All communications are sent through the IR connection, and the tether to the robot consists only of two power wires. Note: Senior Honors Thesis. Advisor: Devin Balkcom.