Journal ArticleDOI
Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE)
TLDR
In this article, a novel robotic platform (ROPE RIDE: RObotic Platform Enabling Rope access in Dangerous Environment) is presented to efficiently climb up various types of walls with the help of a rope ascender.About:
This article is published in Mechanism and Machine Theory.The article was published on 2013-12-01. It has received 59 citations till now. The article focuses on the topics: Rope.read more
Citations
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Adaptive Locomition of a Multilegged Robot over Rough Terrain
TL;DR: In this article, an extension of the present theory of limb coordination for such machines to the case in which the terrain includes regions not suitable for weight-bearing and which must consequently be avoided by the control computer in deciding when and where to successively place the feet of the vehicle.
Journal ArticleDOI
MultiTrack: A multi-linked track robot with suction adhesion for climbing and transition
TL;DR: A new robotic platform, called the “MultiTrack”, that satisfies wall-to-wall transitions, attachment to various materials, and high payload capacity for high-rise building cleaning using robots that employs a multi-linked track mechanism and pneumatic adhesion technology.
Journal ArticleDOI
A Survey of Wall Climbing Robots: Recent Advances and Challenges
TL;DR: A detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use is presented, expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass facade cleaning robot.
Journal ArticleDOI
Series of Multilinked Caterpillar Track-type Climbing Robots
TL;DR: Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel-type climbing robot for different surface materials, robot size, and computational costs.
Journal ArticleDOI
Design and Control of a Wall Cleaning Robot with Adhesion-Awareness
TL;DR: A fuzzy inference system is proposed here to adapt the vacuum power based on the variation of the adhesion and the present power setting of the vacuum to improve safety and reliability of operation of a wall cleaning robot.
References
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Journal ArticleDOI
On the stability properties of quadruped creeping gaits
Robert B. McGhee,Andrew A. Frank +1 more
TL;DR: In this paper, a mathematical analysis showed that for only three of the six possible quadruped crawl gaits, it is possible to place the feet of an animal or machine so that it is statically stable at all times.
Adaptive Locomition of a Multilegged Robot over Rough Terrain
TL;DR: In this article, an extension of the present theory of limb coordination for such machines to the case in which the terrain includes regions not suitable for weight-bearing and which must consequently be avoided by the control computer in deciding when and where to successively place the feet of the vehicle.
Journal ArticleDOI
Adaptive Locomotion of a Multilegged Robot over Rough Terrain
TL;DR: This paper is concerned with an extension of the present theory of limb coordination for adaptive walking machines to the case in which the terrain includes regions not suitable for weight-bearing and which must consequently be avoided by the control computer in deciding when and where to successively place the feet of the vehicle.
Proceedings ArticleDOI
A new measure of tipover stability margin for mobile manipulators
Evangelos Papadopoulos,D.A. Rey +1 more
TL;DR: This work presents a new tipover stability measure (the force-angle stability measure) which is easily computed and sensitive to topheaviness and is applicable to systems subject to inertial and external forces, operating over even or uneven terrains.
Proceedings ArticleDOI
Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology
TL;DR: This paper describes a novel clamping technology called compliant electroadhesion, as well as the first application of this technology to wall climbing robots, and shows the ability to repeatably clamp to wall substrates that are heavily covered in dust or other debris.
Related Papers (5)
Climbing robots for maintenance and inspections of vertical structures-A survey of design aspects and technologies
Daniel Schmidt,Karsten Berns +1 more