关键词：矢状平面动力学;低维模型;动态模型
摘 要：This thesis explores the design of systems that can climb vertical surfaces with non-negligibledynamics in the sagittal plane. The development of a low-dimensional model addresses a lackof understanding of sagittal-plane dynamics during climbing in the space of reduced-orderdynamic models of legged systems. Using a construction derived from the well-known andwell-studied Spring-Loaded Inverted Pendulum (SLIP), we propose a two-legged system withboth torsional and linear compliance driven by a position-controlled rotational actuator. Twosimple foot models are considered to explore their e?ect on the dynamics and stability of thesystem. Results of the model indicate the existence of passively stable gaits during climbingas well as during inverted running and also suggest mechanical tuning parameters for physicalclimbing systems. A robotic platform capable of producing dynamic climbing behaviors is introduced. A reduced profile, sprawled posture, and improved internal mechanics allow theCLASH platform to be adapted to di?erent climbing substrates. A passive claw engagement mechanism is proposed and tested with simulated steps to verify the design. With thesemechanisms, CLASH becomes the first robotic platform capable of climbing loose cloth and climbs vertically at 15cm/s or 1.5 body-lengths per second. When climbing ferromagneticsurfaces, the system is capable of climbing at 1.8 body-lengths per second. To climb smooth，hard surfaces, a foot with a passively aligning ankle with a tendon-loaded gecko-inspiredadhesive is designed and tested using simulated steps. With these engagement mechanisms，the system is able to climb at 1 body-length per second on acrylic with a 70! incline. Asimple foot-impact model is created to explain the robot’s inability to climb faster or up steeper inclines due to the sagittal-plane reaction forces created during rapid running.