Abstract:In this article, the critical adhesion force and achievable payload of a Vortex Actuator (VA) are analyzed under 3-DOF surface rotations. A model-based control scheme is later proposed, with the goal of maintaining VA adhesion when immobilized, while limiting the power consumption and counteracting disturbances leading to Center-of-Mass (CoM) variations. Finally, the model-based control scheme is experimentally evaluated with the VA prototype on a flat surface under linear motions and rotations, thus supportin… Show more
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