Other Projects

This page lists and summarizes other research and development projects.

Check the Research Projects page for all major projects.

Last update: 2023-May-19

List of Other Projects

ClimbLab: Dynamic Simulator

ClimbLab is a dynamic simulator for climbing robots developed in MATLAB©. This open-source simulator includes dynamics of multi-body systems provided by SpaceDyn, the design of climbing robots, and simple visualization using the default MATLAB functions.

ClimbLab is available on GitHub.

Related Publication

International Conference

ClimbLab: MATLAB simulation platform for legged climbing robotics

Kentaro Uno*, Warley F. R. Ribeiro*, Yusuke Koizumi, Keigo Haji, Koki Kurihara, William Jones, Kazuya Yoshida

Proceedings of the 24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Takarazuka, Japan. 2021. 

DOI: 10.1007/978-3-030-86294-7_20

Award: CLAWAR 2021  Industrial Robot Award for Practical Innovation Highly Commended Paper

* Kentaro Uno and Warley F. R. Ribeiro contributed equally to this work

Dynamic Equilibrium

Checking the dynamic equilibrium of a climbing robot is essential to plan safe locomotion. This project focuses on including the grasping performance in a simple equilibrium detection that considers inertial accelerations. The proposed equilibrium polyhedron defines the stable region for the gravito-inertial acceleration vector, applicable to any gravity field.

Last update: 2023-Oct-20

Related Publication


Tumble Stability Criterion Using Gravito-Inertial Acceleration for Wall-Climbing Motion of Legged Robots (重力慣性加速度(GIA)を用いた脚型壁登りロボットの転倒安定性評価基準)

Kentaro Uno, Warley F. R. Ribeiro, Yusuke Koizumi, Kenji Nagaoka, Kazuya Yoshida

Journal of Robotics Society of Japan (JRSJ). 2023 (Accepted). 

International Conference

Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Moscow, Russian Federation. 2020. 

DOI: 10.13180/clawar.2020.24-26.08.18

Award: CLAWAR 2020 Local Organizing Committee (LOC) Third Prize Award