Author(s)

E. Andrada, J. Mämpel, A. Schmidt, M. S. Fischer, A. Karguth & H. Witte

Abstract

Ecological generalists, such as rats, may be used as biological paragons for the design and construction of adaptive light-weight climbing robots. We applied the inverse dynamic approach (IDA) on rats walking and climbing at different inclinations in order to estimate joint forces, torques and power in extremities and the trunk. If we understand the adaptive nature of small mammals’ moving on sloped supports, via biomimetic transfer the principles uncovered may be applied to the design and construction of more adaptive climbing machines. Keywords: biomechanics, rat locomotion, biologically inspired robots. 1 Introduction The number of climbing robots has steadily increased during recent decades. Current systems that are able to climb have an overall mass ranging from 3 kg to 75 kg. In comparison to their biological paragons, the locomotory capabilities of robots are quite constrained. The optimization of such robots requires a general understanding of the climbing process. This could be achieved by an examination of the biomechanical principles used by animals during horizontal, sloped and vertical locomotion.

Keywords

biomechanics, rat locomotion, biologically inspired robots