Navigation for Legged Mobility: Dynamic Climbing

Austin, Max P.; Harper, Mario; Brown, Jason; Collins, Emmanuel G.; Clark, Jonathan E.

doi:10.1109/tro.2019.2958207

Cited by 11 publications

(5 citation statements)

References 26 publications

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“…Similar motion planning with an inchworm-like climbing gait was also proposed for a novel cable-climbing robot called CCRobot-III [ 45 ]. The hybrid heuristic and sampling-based planning method for dynamic climbing behaviour can also be used for legged climbing robot gait planning [ 123 ]. Current motion planning for climbing robots with intermittent locomotion mechanisms primarily considers the robot's fundamental motion capabilities, such as passability and obstacle-crossing capabilities, and has not yet addressed the constraints proposed for operational tasks.…”

Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

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: Control Methods For Climbing Robotsmentioning

confidence: 99%

Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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“…1) Rope constraints: We have already modeled the rope master-point by introducing a ball joint q b and by making it passive thanks to the actuation matrix S in (5). To properly model the effects of the rope suspension, we now need to first include a constraint on the position of the anchor-point p r (q) to be equal to a prescribed position p des r , i.e.…”

Section: B Rope-assisted Floating-base Robot Dynamicsmentioning

confidence: 99%

“…Climbing robots have been addressed in the robotics literature during the last three decades and a wide variety of platforms have been proposed especially for vertical infrastructure inspection: Stickybot [3], SCAMP [4] or TAILS [5]. Unfortunately, the size and performance of these research platforms restrict their applicability merely to inspection tasks.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers

Hoffman

Polverini

Laurenzi

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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“…Octopus-like behaviour is realized by a simple mechanism utilizing the dynamics of the soft body, and the robot can grasp various objects of unknown shape. Austin, Max P. et al [51]outlined some of the specific motion planning challenges faced when attempting to plan for legged systems with dynamic gaits, with specific instances of these demonstrated by the dynamic climbing platform TAILS. Wardana,A.…”

Section: Introductionmentioning

confidence: 99%

Logic motion algorithm and design of flexible limb of gecko-imitating robot

Liang¹,

Fengshun²,

et al. 2023

Int J Adv Manuf Technol

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The transmission tower climbing robot runs up and down along the tower tri-steel skeleton， and is supposed to stay in the required position firmly, transporting and installing the safety cable at the appropriate tower end for provision of the basic life safety guarantee for the operator during climbing and operating in maintenance.This paper puts forward and designs a set of robot and intelligent control with the hardware system of homing and pseudo-target excluding algorithms. In Euclidean n dimension space with the real number, definitions and constructions of the robot climbing state sequence number set are down with the norm sequence number set of the two adjacent rotary center distance of the handles on the same side of the skeleton, machine vision, and W-type sensor layout of discrete -continuous integration, efficiently homing the real goals and reliably identifying the pseudo target. According to the three point support -one point fetching, design of flexible appendage logical sequence were built up, not only guarantee the biomimetic gecko type climbing, and ensure the reliable grip of the robot hand with respect to to help handle,Together with the hardware design, the robot can work safely and reliably and transport the safety cable to the tower end. Because of the non-uniformity of the arrangement of the handle along the skeleton, the most critical problem to be solved in the climbing process is the robot's searching and reliable grasping.

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Navigation for Legged Mobility: Dynamic Climbing

Cited by 11 publications

References 26 publications

Climbing robots for manufacturing

Climbing robots for manufacturing

Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers

Logic motion algorithm and design of flexible limb of gecko-imitating robot

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