Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots

Gu, Zhenfeng; Gong, Zeyu; Tao, Bo; Yin, Zhouping; Ding, Han

doi:10.1109/tii.2022.3205952

Cited by 5 publications

(3 citation statements)

References 32 publications

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“…For instance, Huazhong University of Science and Technology developed a climbing machining robot for in-situ manufacturing of large and complex components. By designing flexible negative pressure adsorption chambers and the corresponding active compliant adsorption method, the robot adsorbs up to 1000 N with a self-weight of 10 kg and can adapt to variable curvature surfaces with a radius of curvature greater than 1.1 m. A global positioning method has also been proposed for precise localization in a wide range of large components [ 50 , 51 ]. Tsinghua University also developed a novel flexible climbing machining robot for processing large components.…”

Section: Definition Of Climbing Manufacturing Robotsmentioning

confidence: 99%

“…(b) Localization based on onboard measurement, can be divided into localization using 2D optical measurement, localization based on 3D optical measurement and localization based on ubiquitous fiducials. Adapted with permission from Refs [ 51 , 108 , 113 , 119 ], respectively. (c) Multirobot Collaborative Localization, can be realized by employing different kinds of robots.…”

Section: Localization Technologies For Climbing Robotsmentioning

confidence: 99%

“…In our previous study, a tether displacement sensor was introduced to acquire the global pose. Visual inertial odometry with reduced drift was proposed by introducing adsorption constraints [ 51 ]. Despite the ingenuity and accessibility of the rope-based climbing robot localization method, its accuracy is typically insufficient for manufacturing applications.…”

Section: Localization Technologies 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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Section: Definition Of Climbing Manufacturing Robotsmentioning

confidence: 99%