ROMA: a climbing robot for inspection operations

Abderrahim, Mohamed; Balaguer, Carlos; Giménez, Antonio; Pastor, José Manuel; Padrón, Víctor

doi:10.1109/robot.1999.770449

Cited by 44 publications

(19 citation statements)

References 7 publications

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“…The grasping gripper is the relatively prevalent. Usually the climbing robots based on this attachment are working in some specialized environment such as metallic-based buildings [18] [19] [25]. Obviously, this adhesion principle will be adopted according to physical working constraints, thus make it uncommon and impossible for application on smooth surfaces.…”

Section: B Investigation On Attachment Methods O/climbing Robotsmentioning

confidence: 99%

A novel passive adhesion principle and application for an inspired climbing caterpillar robot

Zhang

Wang

Zhang

2009

2009 IEEE International Conference on Mechatronics

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This paper presents a novel passive adhesion principle which is used firstly for an inspired modular climbing caterpillar project. After a related survey on the natural creatures which can climb on the vertical surface with different materials, a systematical summarizing on four attachment methods adopted by climbing robots worldwide is given. Then a low-frequency vibrating passive attachment principle is presented in order to keep the merits and eliminate the shortcomings of using the normal active vacuum suckers. The adhesion principle, related mathematic model and rational testing are presented step by step. The new passive suckers based on this principle are used on an inspired modular climbing robot, which is currently under development in our consortium. On-site testing shows application of our passive suction method can free climbing robots from the heavy vacuum ejectors and realize an effective simple adsorption, furthermore improve the inspired technological level and flexibility ofthe locomotion capability.

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Section: B Investigation On Attachment Methods O/climbing Robotsmentioning

confidence: 99%

A novel passive adhesion principle and application for an inspired climbing caterpillar robot

Zhang

Wang

Zhang

2009

2009 IEEE International Conference on Mechatronics

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“…The grasping gripper is relatively prevalent for designing a reliable attachment unit for a climbing robot. The climbing robots using grippers generally work in a specialized environment, such as metal-based buildings (Abderrahim, et al, 1991). As a result, we cannot implement this idea on our prototype either.…”

Section: Prototype Designmentioning

confidence: 99%

A Bio-Inspired Small-Sized Wall-Climbing Caterpillar Robot

Zhang¹,

Wang²,

Gonzalez-Gomez³

et al. 2010

Mechatronic Systems Applications

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“…Regarding the mechanical structure of these robots, two main groups can be distinguished -inchworm-type robots [1][2][3] which usually consist of two grippers and an arm in between; and wheeled pole-climbing robots [4][5][6] which usually combine a passive clamping mechanisms for convex structures with motorized wheels at one or several contact points. Specific types of poles can also be climbed with other mechanisms such as penetration with spines 2 (Spinybot II [7], for trees) or magnetic adhesion (MagneBike [8], for steel towers).…”

Section: Overview On the Basic Groups Of Pole-climbing Robotsmentioning

confidence: 99%

Wheeled Pole-Climbing-Robot With High Payload Capability, Using a Clamping Mechanism Which Is Inspired by the Rope-Clamps in Human Climbing

Fischer

Siegwart

2010

Emerging Trends in Mobile Robotics

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This paper describes the concept, design and prototype implementation of a wheeled pole-climbing-robot with high payload capability, which is planned for climbing palm trees, masts of telephone cables or lamp posts. It uses a new clamping mechanism which is mainly inspired by the rope-clamps that are used for human climbing (common name: "jumars"). By adapting this principle to the field of wheeled pole-climbing robots, a very high payload capability can be achieved -without any additional constraints concerning the stiffness of springs or the position of the robot's center of mass. After an introduction chapter that points to the importance of the above-mentioned advantages in specific applications and the drawbacks of previous designs; the basic mechanical principle of the clamping mechanism is explained with a 2D calculation model. This analysis is followed by the description of the first prototype robots: A preliminary prototype at small size for proving the functionality of the concept; and the conceptual design of a pole-climbing robot for real industrial applications -planned for pole-diameters from Ø0.2 to Ø0.5m and a payload capability of up to 100kg. The paper concludes with successful experiments that have been performed with the prototype robot at small size, and a discussion of the most critical components for the planned design at big size.

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ROMA: a climbing robot for inspection operations

Cited by 44 publications

References 7 publications

A novel passive adhesion principle and application for an inspired climbing caterpillar robot

A novel passive adhesion principle and application for an inspired climbing caterpillar robot

A Bio-Inspired Small-Sized Wall-Climbing Caterpillar Robot

Wheeled Pole-Climbing-Robot With High Payload Capability, Using a Clamping Mechanism Which Is Inspired by the Rope-Clamps in Human Climbing

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