Combot: Compliant climbing robotic platform with transitioning capability and payload capacity

Lee, Giuk; Wu, Geeyun; Kim, Sun Ho; Kim, Jong-Won; Seo, TaeWon

doi:10.1109/icra.2012.6224799

Cited by 21 publications

(7 citation statements)

References 14 publications

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“…Combot was developed to operate at a heavy industrial site (Lee, Wu, Kim, Kim, & Seo, ; Lee, Wu, Kim, & Seo, ). The robot should be able to adhere to ferromagnetic material.…”

Section: Robotic Systemsmentioning

confidence: 99%

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Series of Multilinked Caterpillar Track‐type Climbing Robots

Lee

Kim

Seo

et al. 2014

Journal of Field Robotics

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Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheeltype climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high-rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. 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. C 2014 Wiley Periodicals, Inc.

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“…Combot was developed to operate at a heavy industrial site (Lee, Wu, Kim, Kim, & Seo, ; Lee, Wu, Kim, & Seo, ). The robot should be able to adhere to ferromagnetic material.…”

Section: Robotic Systemsmentioning

confidence: 99%

“…Detailed specifications are described qualitatively in Section . The proper design parameters are determined by falling and slipping condition analysis (Lee et al., ). The configuration of Combot consists of three caterpillar track modules as shown in Figure .…”

Section: Robotic Systemsmentioning

confidence: 99%

Series of Multilinked Caterpillar Track‐type Climbing Robots

Lee

Kim

Seo

et al. 2014

Journal of Field Robotics

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“…Of those that can, the magnetic snake-like robots constructed to date cannot follow curved paths since they have minimal to no lateral flexibility. 10,12,13 The Magnebike robot can negotiate corner transitions uses a lifting mechanism to detach its front wheel momentarily from the magnetic surface to facilitate the corner transitions. 1,2 However, these robots are unable to negotiate ribbed surfaces (see Figure 1).…”

Section: Introductionmentioning

confidence: 99%

“…[1][2][3][4][5][6][7][8][9][10][11][12][13] Such designs use either magnetic wheels or tracks, 1-5,7,10-12 mount magnets in a central plate within the robot that can be raised and lowered in order to vary the magnetic-adhesive force, 6,9,13 or use a combination of several mobile units to facilitate climbing. 8 The majority of these robots are restricted to operation on smooth surfaces that are either flat or have large radii of curvature.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

Kelley

Ostovari²,

Burmeister³

et al. 2015

SPIE Proceedings

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A novel, multi-segmented magnetic crawler robot has been designed for ship hull inspection. In its simplest version, passive linkages that provide two degrees of relative motion connect front and rear driving modules, so the robot can twist and turn. This permits its navigation over surface discontinuities while maintaining its adhesion to the hull. During operation, the magnetic crawler receives forward and turning velocity commands from either a tele-operator or high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors.This paper presents the development of a simple, low-level, leader-follower controller that permits the rear module to follow the front module. The kinematics and dynamics of the two-module magnetic crawler robot are described. The robot's geometry, kinematic constraints and the user-commanded velocities are used to calculate the desired instantaneous center of rotation and the corresponding central-linkage angle necessary for the back module to follow the front module when turning. The commands to the rear driving motors are determined by applying PID control on the error between the desired and measured linkage angle position. The controller is designed and tested using Matlab Simulink. It is then implemented and tested on an early two-module magnetic crawler prototype robot. Results of the simulations and experimental validation of the controller design are presented.

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“…A robot platform comprising six links has been developed based on rigorous static and dynamic analysis [65]. A second iterated robot platform has been developed taking a modular approach comprising three torsos, a head-mounted arm and a tail-mounted arm [66]. Links connecting each module consist of a passive joint with torsion springs and an active joint [67].…”

Section: Magnetic Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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Combot: Compliant climbing robotic platform with transitioning capability and payload capacity

Cited by 21 publications

References 14 publications

Series of Multilinked Caterpillar Track‐type Climbing Robots

Series of Multilinked Caterpillar Track‐type Climbing Robots

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

A Survey of Wall Climbing Robots: Recent Advances and Challenges

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