%T A toy rock climbing robot
%A Matthew P. Bell
%R Technical Report TR2005-542
%I Dartmouth College, Computer Science
%C Hanover, NH
%D August 2005
%U http://www.cs.dartmouth.edu/reports/TR2005-542.pdf
%X
 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.
%Z
 Senior Honors Thesis.  Advisor: Devin Balkcom.