@TechReport{Dartmouth:TR2005-542,
  author = {Matthew P. Bell},
  title = {{A toy rock climbing robot}},
  institution = {Dartmouth College, Computer Science},
  address = {Hanover, NH},
  number = {TR2005-542},
  year = {2005},
  month = {August},
  URL = {http://www.cs.dartmouth.edu/reports/TR2005-542.pdf},
  comment = {
    Senior Honors Thesis.  Advisor: Devin Balkcom.
  },
  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.
  }
}