Autonomous Pose Detection and Alignment of Suction Modules of a Biped Wall-Climbing Robot

Zhu, Haifei; Guan, Yisheng; Wu, Wenqiang; Zhang, Lianmeng; Zhou, Xuefeng; Zhang, Hong

doi:10.1109/tmech.2014.2317190

Cited by 62 publications

(37 citation statements)

References 18 publications

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“…The claw tree climbing [22][23][24] robot is a kind of tree climbing robot which uses the gripper or the claw to clamp the tree trunk and realize the tree climbing behavior, in vertical or handstand and other aspects of climbing a greater advantage. The biomimetic tree-climbing [25][26][27][28][29][30] robots can climb vertically or upside down. Most of these tree climbing robots have some characteristics, such as the wheeled tree-climbing robot is adapted to the trunk without branches, which cannot flexibly adapt to the actual working conditions, and the bionic tree-climbing robot has more advantages in vertical or upside-down climbing, while quadruped tree climbing robots, especially bionic robots, have not been investigated intensively.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

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In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

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“…It is a very useful mechanism which is able to climb arbitrarily bent poles. Climbot [24][25][26] was also developed at South China University of Technology for pipe climbing using a five-DOF mechanism. It can climb cylindrical pipes as well as rectangular truss structures with high mobility and good manipulation function.…”

Section: Introductionmentioning

confidence: 99%

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

Kim

Lee

Choi

2018

International Journal of Advanced Robotic Systems

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Among many pipes in a nuclear power plant, the spray pipes in the reactor building are one of the most important pipes in view of their function and safety aspects. However, it is very difficult to manually reach and inspect the pipes for defects or damage, because these pipes are installed in very high places. To carry out this kind of inspection more easily, we developed a mobile robot to climb up and down and to cross over such pipes. A mobile robot should be small and light enough that it can be practically and safely operated in a nuclear power plant. Our robot is able to overcome obstacles such as valves, pipe flanges, and T-shaped branches, and it also meets the requirements of fail-safe, autonomous grasping, and self-power without the cables to the remote control station. The robot has a five-degree-of-freedom manipulator and two grippers and moves along the cylindrical pipes bypassing the obstacles. The robot should be able to grasp the next pipe autonomously, because the robot works in places high off the ground where the remote operator cannot see the next pipe for the robot to grasp. This article proposes a vision-based scheme for grasping a cylindrical pipe semiautonomously and describes its solution along with the forward kinematics and inverse kinematics of the mobile robot. The configuration of the pipe-climbing robot, including its hardware and software, is described, and the robot control with visual grasping is explained. The robot can be used practically for spray-pipe inspection as well as many potential other applications, such as inspection of the roof frame of a stadium consisting of pipes.

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“…For path planning techniques, also refer to [20]. Mechatronic implementation of a system also requires design of hardware and software architectures, as in systems of UAV tracking [17], UAVs-GAVs [18], wall-climbing robot [19], flapping-wing robot [31], etc. To the best of our knowledge, there is relatively less literature dealing with implementation of a mechatronic system for grasping and transportation, particularly with low implementation complexity.…”

Section: Introductionmentioning

confidence: 99%

Integration of Hardware and Software Designs for Object Grasping and Transportation by A Mobile Robot With Navigation Guidance via a Unique and Elegant Design of Bearing Alignment Mechanism

Yue

2015

IEEE/ASME Trans. Mechatron.

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In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The work is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, the HCC is low-cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is perfectly and tightly incorporated with the designed HCC in an event-triggered manner and the unique design of bearing alignment mechanism. The particular contribution is the tight integration of the heuristic software algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.

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Autonomous Pose Detection and Alignment of Suction Modules of a Biped Wall-Climbing Robot

Cited by 62 publications

References 18 publications

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Design and Analysis of a Novel Tree Climbing Robot Mechanism

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

Integration of Hardware and Software Designs for Object Grasping and Transportation by A Mobile Robot With Navigation Guidance via a Unique and Elegant Design of Bearing Alignment Mechanism

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