Development of a Steep Slope Mobile Robot with Propulsion Adhesion

Nishimura, Yuki; Yamaguchi, Tomoyuki

doi:10.1109/iros45743.2020.9341524

Cited by 4 publications

(6 citation statements)

References 14 publications

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“…Slips and falls are the primary problems encountered during robot locomotion on steep slopes. In previous research, several mechanisms to maintain the stability of a mobile robot have been proposed; these include the following: (1) maintaining posture by controlling the center of gravity of a multi-legged mobile robot [ 17 ], (2) pulling a volcano observation robot with a wire [ 18 ], (3) slope movement using a snake-like robot [ 19 ], (4) traversing a slope with caterpillars or special wheels [ 14 , 20 , 21 ], and (5) maintaining posture on a slope by pushing with air [ 22 , 23 , 24 ]. In method (1), the robot must be equipped with numerous actuators to create a robot with legs, and these actuators are not only heavy but also need to be controlled in a complicated manner.…”

Section: Related Studiesmentioning

confidence: 99%

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Grass Cutting Robot for Inclined Surfaces in Hilly and Mountainous Areas

Nishimura

Yamaguchi

2023

Sensors

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Grass cutting is necessary to prevent grass from diverting essential nutrients and water from crops. Usually, in hilly and mountainous areas, grass cutting is performed on steep slopes with an inclination angle of up to 60° (inclination gradient of 173%). However, such grass cutting tasks are dangerous owing to the unstable positioning of workers. For robots to perform these grass cutting tasks, slipping and falling must be prevented on inclined surfaces. In this study, a robot based on stable propeller control and four-wheel steering was developed to provide stable locomotion during grass cutting tasks. The robot was evaluated in terms of locomotion for different steering methods, straight motion on steep slopes, climbing ability, and coverage area. The results revealed that the robot was capable of navigating uneven terrains with steep slope angles. Moreover, no slipping actions that could have affected the grass cutting operations were observed. We confirmed that the proposed robot is able to cover 99.95% and 98.45% of an area on a rubber and grass slope, respectively. Finally, the robot was tested on different slopes with different angles in hilly and mountainous areas. The developed robot was able to perform the grass cutting task as expected.

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Section: Related Studiesmentioning

confidence: 99%

“…The phenomenon of wheel slip occurs when the grip between the wheel and surface is reduced during sharp turns or on slippery road surfaces. Although propeller thrust can be used, previous studies have not analyzed the effects of rotational motion on the design [ 22 , 23 , 24 ]. The robot may slip if the thrust force is weak.…”

Section: Related Studiesmentioning

confidence: 99%

Grass Cutting Robot for Inclined Surfaces in Hilly and Mountainous Areas

Nishimura

Yamaguchi

2023

Sensors

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“…The robot is pressed against curved surfaces using the thrust produced by the propeller and then moves it with certain locomotion mechanisms (usually wheels). For example, a climbing robot combined with a quadrotor with a quad chassis can generate a large frictional force for locomotion on steep slopes [ 85 ]. A similar mechanism using two wheels can be found in [ 44 ].…”

Section: Adhesion Principles For Climbing Robotsmentioning

confidence: 99%

“…In addition, (f) some climbing robots have combined locomotion mechanisms. Adapted with permission from Refs [ 85 , 106 ], respectively.…”

Section: Locomotion Mechanisms For Climbing Robotsmentioning

confidence: 99%

“…A climbing robot based on propeller thrust and a portable rope can utilize propellers and a rope ascender to achieve adsorption and climbing [ 40 ]. Similarly, the climbing robot can press against and climb on a steep surface using propellers with two additional DOFs [ 85 ]. In fact, the wheels can be motorless in the propeller-wheel mechanism because the attitude and driving force can be achieved simultaneously with sufficient propellers [ 43 ].…”

Section: Locomotion Mechanisms For Climbing Robotsmentioning

confidence: 99%

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Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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Robotized intelligent manufacturing is a growing trend in the manufacturing of large and complex components in aviation, aerospace, marine engineering and other industries. With their expansive workspaces and flexible deployment, climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components. This paper defines the climbing manufacturing robot based on the application status of climbing robots and then analyses four key technical requirements: adhesion, locomotion, localisation and control. Subsequently, the current research status of climbing robots in these four areas is classified and reviewed, along with a clarification of the research frontiers and trends in each area, and the applicability of the relevant research to manufacturing-oriented climbing robotic systems is analysed. Finally, by concluding the development trends of robotized intelligent manufacturing equipment in terms of manufacturing dimension and scale, environmental adaptability and cluster collaboration capability, we clarify the major challenges for climbing manufacturing robots in terms of adhesion principles, motion mechanisms, positioning technology and control methods, and propose future research directions in these fields.

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