Dr. Provancher’s Prior Climbing Robot Projects
Dr. Provancher’s postdoc involved working with with Students in Stanford’s Stanford Biomimetics and Dexterous Manipulation Lab on the RiSE and SpinyBot projects.
|RiSE climbing robot|
RiSE is a DARPA sponsored project to develop a biologically inspired climbing robot. The project is a collaborative effort by University of Pennsylvania, Stanford University, UC Berkeley, Lewis & Clark, Carnegie Mellon, and Boston Dynamics. Dr. Provancher worked on the RiSE project during his postdoc at Stanford’s Stanford Biomimetics and Dexterous Manipulation Lab. For more details see the below publications or the above links to the RiSE team’s respective websites.
|SpinyBot||closeup of foot spine array|
SpinyBot is a climbing robot that uses feet with arrays of microspines that are individually supported by a compliant suspension. This compliant suspension allows the microspines to do load sharing. Dr. Provancher is interested in applying the foot fabrication techniques from SpinyBot along with embedded sensing and actuation to his ROCR climbing robot. For more details see the below publications or the Stanford Biomimetics and Dexterous Manipulation Lab website.
- Asbeck, A. T., Kim, S., Cutkosky, M. R., Provancher, W. R , Lanzetta, M., “Scaling Hard Vertical Surfaces with Compliant Microspine Arrays,” International Journal of Robotics Research, 25(12):1165–1179, December 2006.
- Kim, S., Asbeck, A. T., Cutkosky, M. R., and Provancher, W. R., “SpinybotII: Climbing Hard Walls with Compliant Microspines,” Presented at the 12th International Conference on Advanced Robotics (ICAR), Seattle, Washington, 2005, p 601–606.
- Asbeck, A. T., Kim, S., Cutkosky, M. R., Lanzetta, M., Provancher, W. R., “Scaling Hard Vertical Surfaces with Compliant Microspine Arrays,” Presented at Robotics Science and Systems, Cambridge, MA, 2005.
- Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert, Daniel Goldman, Richard Groff, William Provancher, Alfred Rizzi, Uluc Saranli, Aaron Saunders, Daniel Koditschek. “Robotics In Scansorial Environments,” in SPIE proceedings on Unmanned Ground Vehicle Technology VII, Orlando, Florida, 2005, p. 291–302.
- Provancher, W.R., Clark, J.E., Geisler, B., Cutkosky, M.R., “Towards Penetration-based Clawed Climbing,” Proc. of the 7th International Conference on Climbing and Walking Robots (CLAWAR 2004), Madrid, Spain, September 22–24, 2004, p. 961–970.