Wall Climbing Robot

SiLVIA (Six Legged Vehicle with Intelligent Articulation) is a six-legged robot who can brace itself between two vertical walls and climb vertically with end-effectors that only use friction. Previsouly, we already implemented a two-stage optimization method to plan the on-wall motions so that it can deal with irregular wall profiles. And transition behaviours are also optimized using a nonlinear programming. Please check details on our papers.

Now, I am working on modelling a potential coupling relationship between controllable contact forces and uncontrollable contact torques. All of previous planners will benefit from this model so as to improve the performance on the real hardware.