Robug II: An intelligent wall climbing robot

Luk, B.L.; Collie, A.A.; Billingsley, John

doi:10.1109/robot.1991.131752

Cited by 85 publications

(25 citation statements)

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“…In beetles, for example, this is achieved by a wide spread of the legs, often exceeding the body width by more than three times. In spiders the body hangs below the 'knees' and the limbs can adduct to a little more than the body width and still maintain stability [1]. An up-and-over spider-like arrangement appears to have better potential for negotiating obstacles.…”

Section: Improving Stabilitymentioning

confidence: 99%

“…This will inevitably reduce the efficiency and increase the cost of performing such operations. Mobile wall-climbing robots that can carry tools and equipment to perform the required tasks provide a more cost-effective solution to the problem [1]. Such robots are termed service robots by the International Service Robot Association (ISRA) [2].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Modular Design of a Wall-Climbing Robot and Its Mechatronics Controller

Tlale

2012

The South African Journal of Industrial Engineering

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The modular design of a wall-climbing robot, implementing two articulated legs per module (biped robotic modules), is presented in this paper. Modular design improves a wall-climbing robot's manoeuvrability and flexibility during surface changes or while walking on uneven surfaces. The design of the articulated legs uses four motors to control the posture of the vacuum cups, achieving the best possible contact with the surface. Each leg can contain more than five sensors for effective feedback control, and additional sensors such as gyros, CCD sensors, etc, can be fitted on a module, depending on the robot's application. As the number of modules used in the design of the robot is increased, the number of actuators and sensors increases exponentially. A distributed mechatronics controller of such systems is presented. OPSOMMINGModulêre ontwerp van 'n muurklim-robot met twee geskarnierde bene per module (twee-benige robotmodules) word in hierdie artikel weergegee. Modulêre ontwerp verbeter die muurklim-robot se beweeglikheid en aanpasbaarheid tydens veranderings in die loopvlak of terwyl dit loop op ongelyke oppervlaktes. Ontwerp van geskarnierde bene implementeer vier motors wat die oriëntasie van vakuumsuigdoppe beheer om die bes moontlike kontak met die loopvlak te handhaaf. Elke been kan meer as vyf sensors hê vir doeltreffende terugvoerbeheer, en bykomende sensors soos giroskope, CCD sensors, ens. kan by 'n module gevoeg word soos die toepassing van die robot dit mag vereis. Soos die aantal modules wat in die ontwerp van die robot gebruik word, toeneem, neem die aantal aktiveerders en sensors eksponensiëel toe. 'n Verdeelde megatroniese beheerder van sulke stelsels word aangebied.

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Section: Improving Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Modular Design of a Wall-Climbing Robot and Its Mechatronics Controller

Tlale

2012

The South African Journal of Industrial Engineering

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“…Rotary joints 1 J and 2 J provide the robot movement and turning capability. Rotary joint 3 J allows the two modules rolling. Joint 4 J allows the robot extended and draws back its leg so that the suction cup can adsorb the surface firmly to accomplish transition between inclined surfaces.…”

Section: Description Of the Wall-climbing Robotmentioning

confidence: 99%

Research on the Modeling and Transition Algorithm of a Novel Wall-Climbing Robot

Wang

et al. 2011

AEF

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Abstract. This paper presents a modeling and transition algorithm of a novel wall-climbing robot with biped-wheel hybrid mechanism. In order to realize robot transitions between inclined surfaces, the robot's locomotion gait is analyzed and a locomotion gait planning model based on Finite State Machine (FSM) is established. Moreover a transition algorithm between inclined surfaces is proposed based on multi-sensors data fusions and logical reasoning networks. The results of simulations and experiments show that the model and algorithm are valid and can be applied for the wall-climbing robot's transition between the concave surfaces.

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“…The fixed-sucker walking beam type can carry a relatively heavy payload, although it climbs at a rather slow speed. As none of them can adapt to walls with irregular obstacles, still another type, multi legged robots, have come into the sight of robotic researchers (Hirose, 1992;Luk, 1991). Along with the ability to negotiate obstacles and adapt to different wall shapes, the multilegged robot is also capable of climbing from the ground to the wall.…”

Section: Figure 1 Multi-legged Robotmentioning

confidence: 99%