BIB-VERSION:: CS-TR-v2.0
ID:: ncstrl.dartmouthcs//TR2005-542
ENTRY:: August 05, 2005
ORGANIZATION:: Dartmouth College, Computer Science
TITLE:: A toy rock climbing robot
TYPE:: Technical Report (paper)
REVISION:: 1
AUTHOR:: Bell, Matthew P.
DATE:: August 2005
RETRIEVAL:: For a paper copy, email <reports@cs.dartmouth.edu>
RETRIEVAL:: For a paper copy, write to
       Technical Report Librarian
       Department of Computer Science
       Dartmouth College
       6211 Sudikoff Laboratory
       Hanover, NH 03755-3510
       USA
RETRIEVAL:: PDF at http://www.cs.dartmouth.edu/reports/TR2005-542.pdf
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.
END:: ncstrl.dartmouthcs//TR2005-542