A miniature ceiling walking robot with flat tacky elastomeric footpads

Ünver, Özgür; Sitti, Metin

doi:10.1109/robot.2009.5152303

Cited by 52 publications

(21 citation statements)

References 14 publications

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“…Equation (6) implies that the component of the thruster force is equal to that of the robot weight along the slope axis with angleα , and the left component of the thruster force is applied to the normal pushing force against the slope. It is noticed that the slope angle α is actually measured by an onboard 3-D motion sensor.…”

Section: B 2-d Modeling Between Two Wallsmentioning

confidence: 99%

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Experiments and simulations of wall running and transferring of a climbing robot

Ioi

Shimizu

Kimura

2015

2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA)

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This paper reports experimental and simulation results of a compact wall-climbing robot. The robot has been developed with the aim to detect or repair inspections and flaws on walls. First, the mechanical structure of the robot is summarized, and the remote and autonomous control system is also described. Next, we focus on running on walls and transferring between two different walls. The experimental results are compared to the simulation results based on the dynamical model of the robot. Two proposed methods for wall transferring are experimentally verified, and these experiments have good agreements with the simulations.I.

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Section: B 2-d Modeling Between Two Wallsmentioning

confidence: 99%

“…Many wall-climbing robots have been developed around the world, and there remains a problem that these robots do not satisfy both the high speed running and small size [1][2][3][4][5][6][7][8][9]. Thus we have developed a novel climbing robot equipped with a pair of driving wheels and a tilt-variable thruster.…”

Section: Introductionmentioning

confidence: 99%

Experiments and simulations of wall running and transferring of a climbing robot

Ioi

Shimizu

Kimura

2015

2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA)

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“…Biomimetic type adhesion (e.g. based on elastomers [19], gecko inspired feet [20], directional adhesion [21] and others [10]) is still in experimental phase with proven functionality for small sizes and weights, yet not proven for in-water application.…”

Section: Adhesion and Neutralizing Subsystems A Adhesion By Suctmentioning

confidence: 99%

New concept of in-water surface cleaning robot

Albitar

Ananiev

Kalaykov

2013

2013 IEEE International Conference on Mechatronics and Automation

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Abstract-This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

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“…As Tables 1 and 2 show, five types of adhesion technologies (magnetic [13,14], pneumatic [15,16], mechanical [17], electrostatic [1,18,19], and chemical adhesion [20][21][22]) and six types of locomotion mechanisms (legs [23], wheels [24,25], tracks [26], slides [27], wires [7], and multi-linked modules [28][29][30]) were compared. A + or − marker means that the selected type was suitable or unsuitable, respectively, for use in meeting a particular requirement.…”

Section: Introductionmentioning

confidence: 99%