Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

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Dynamics and Control of Two-Mobile Modules of Climbing Robot Connected by a Manipulator

The Proceedings of the Asian Conference on Multibody Dynamics ◽

10.1299/jsmeacmd.2016.8.40_1289957 ◽

2016 ◽

Vol 2016.8 (0) ◽

pp. 40_1289957 ◽

Cited By ~ 1

Author(s):

Ravindra S. Bisht ◽

Pushparaj M. Pathak ◽

Saroj K. Panigrahi

Keyword(s):

Climbing Robot ◽

Dynamics And Control ◽

And Control

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Design and Control of MIRA: A Lightweight Climbing Robot for Ship Inspection

International Letters of Chemistry Physics and Astronomy ◽

10.18052/www.scipress.com/ilcpa.55.128 ◽

2015 ◽

Vol 55 ◽

pp. 128-135 ◽

Cited By ~ 2

Author(s):

Mohammed Ahmed ◽

Markus Eich ◽

Felix Bernhard

Keyword(s):

Complex Geometry ◽

Climbing Robot ◽

Destructive Testing ◽

On Line ◽

Funded Project ◽

Inspection Data ◽

Robotic Assistant ◽

And Control ◽

Marine Vessels ◽

Non Destructive

The inspection of marine vessels is currently per-formed manually. Inspectors use tools (e.g. cameras and devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project INCASS develops concepts for a marine inspection robotic assistant system to improve and automate ship inspections. In this paper, we introduce our magnetic wall–climbing robot: Marine Inspection Robotic Assistant (MIRA). This semi-autonomous lightweight system is able to climb a vessels steel frame to deliver on-line visual inspection data. In addition, we describe the design of the robot and its building subsystems as well as its hardware and software components.

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Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2007.p0258 ◽

2007 ◽

Vol 19 (3) ◽

pp. 258-263 ◽

Cited By ~ 6

Author(s):

Keisuke Sakaguchi ◽

◽

Takayuki Sudo ◽

Naoki Bushida ◽

Yasuhiro Chiba ◽

...

Keyword(s):

Degrees Of Freedom ◽

Stair Climbing ◽

Design Parameters ◽

Control Parameters ◽

Mass Ratio ◽

Climbing Robot ◽

Soft Landing ◽

Hopping Mechanism ◽

And Control ◽

Two Bodies

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.

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