关键词：矢状面；最小驱动；爬壁机器人
摘 要：This thesis explores the design of systems that can climb vertical surfaces with non-negligible dynamics in the sagittal plane. The development of a low-dimensional model addresses a lack of understanding of sagittal-plane dynamics during climbing in the space of reduced-order dynamic models of legged systems. Using a construction derived from the well-known and well-studied Spring-Loaded Inverted Pendulum (SLIP), we propose a two-legged system with both torsional and linear compliance driven by a position-controlled rotational actuator. Two simple foot models are considered to explore their effect on the dynamics and stability of the system. Results of the model indicate the existence of passively stable gaits during climbing as well as during inverted running and also suggest mechanical tuning parameters for physical climbing systems. A robotic platform capable of producing dynamic climbing behaviors is introduced. A reduced profile, sprawled posture, and improved internal mechanics allow the CLASH platform to be adapted to different climbing substrates. A passive claw engagement mechanism is proposed and tested with simulated steps to verify the design.