SCALER: A Tough Versatile Quadruped Free-Climber Robot

Tanaka, Yusuke; Shirai, Yuki; Lin, Xuan; Schperberg, Alexander; Hayato, Kato,; Swerdlow, Alexander; Kumagai, Naoya; Hong, Dennis

doi:10.1109/iros47612.2022.9981555

Cited by 19 publications

(12 citation statements)

References 30 publications

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“…The horizontal and vertical motions are decoupled High peak power requirements SCALER [18], Oncilla [19], LARM [20], PV-II [21], MECANT I [22] Telescopic leg…”

Section: Type Sketch Advantages Disadvantages Examplesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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“…The horizontal and vertical motions are decoupled High peak power requirements SCALER [18], Oncilla [19], LARM [20], PV-II [21], MECANT I [22] Telescopic leg…”

Section: Type Sketch Advantages Disadvantages Examplesmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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“…Commonly used adhesion methods in WCR including magnetic [10][11][12], electrostatic [13,14], grippers [15,16], bio-inspired [17][18][19][20][21][22][23][24][25], as well as negative pressure [9,[26][27][28][29][30][31][32][33][34][35][36][37][38][39]. One commonly used method is magnetic adhesion, employing permanent magnets [10], electromagnets [11], or a hybrid adhesion with permanent and electromagnets [12] to adhere to metallic surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…It also displays limited effectiveness on surfaces with low dielectric. WCRs with grippers can only operate on uneven surfaces [15] and have a limited range of real-world applications. Bio-inspired adhesion is an advanced and attractive way for WCR.…”

Section: Introductionmentioning

confidence: 99%

CREST: A low energy consumption wall climbing robot with passive impactive negative pressure adhesion

Zhu

2024

Eng. Res. Express

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Wall-climbing robot (WCR) displays a great potential in a wide range of tasks that are challenging or dangerous for human presence. Adhesion capacity and control mechanism are the key factors for climbing robots, as they directly affect the robot’s durability and power consumption in different climbing tasks. However, many WCRs adopting negative pressure adhesion rely on extra mechanism such as air compressor to achieve engagement and disengagement while overlooking the dimension and energy-consumption level of the robot. The high power consumption significantly reduces the robot’s operation duration and efficiency. To address this issue, we proposed a passive negative pressure adhesion mechanism together with an energy-efficient disengagement mechanism using the servo-string-plug sealing system that eliminates the requirement of air compressor or vacuum pump. We developed a compact bipedal climbing prototype named CREST (Climbing Robot with Efficient Suction Technology) that validated this design. Experiment showed that the CREST can perform climbing tasks in different environments including vertical surfaces and can transit between perpendicular planes with low power consumptions. It had a payload capacity up to 0.7 kg when attaching using one foot, the efficient payload capacity achieved 40 times the mass of the foot.

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“…Admittedly, this design introduces complexity in synchronizing the control between legs, which presents challenges in the motion control of gecko-inspired robots. Examples of typical legged climbing robot prototypes include Stickybot [12], Abigaille [13,14], CLASH [15], Spinybot [16], RiSE [17], and SCALER [18]. However, they mostly work in gravity environments.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, various attachment methods, such as magnetic adhesion [19,20], pressure difference adsorption [21], claw spike attachment [16][17][18], and electrostatic adhesion [22,23] have been utilized in the development of gecko-inspired robots. Through proper control, these methods can achieve surface attachment.…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

Pei,

Liu,

Wei

et al. 2023

Biomimetics

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This paper presents a study on bioinspired rigid-flexible coupling adaptive compliant motion control of a robot gecko with hybrid actuation for space stations. The biomimetic robot gecko is made of a rigid trunk, four motor-driven active legs with dual-degree-of-freedom shoulder joints, and four pneumatic flexible pleated active attachment–detachment feet. The adaptive impedance model consists of four input parameters: the inertia coefficient, stiffness coefficient, damping coefficient, and segmented expected plantar force. The robot gecko is equipped with four force sensors mounted on its four feet, from which the normal force of each foot can be sensed in real-time. Based on the sensor signal, the variable stiffness characteristics of the feet in different states are analyzed. Furthermore, an adaptive active compliance control strategy with whole-body rigidity–flexibility-force feedback coupling is proposed for the robot gecko. Four sets of experiments are presented, including open-loop motion control, static anti-interference experiment, segmented variable stiffness experiment, and adaptative compliant motion control, both in a microgravity environment. The experiment results indicated that the presented control strategy worked well and the robot gecko demonstrates the capability of stable attachment and compliant detachment, thereby normal impact and microgravity instability are avoided. It achieves position tracking and force tracking while exhibiting strong robustness for external disturbances.

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SCALER: A Tough Versatile Quadruped Free-Climber Robot

Cited by 19 publications

References 30 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

CREST: A low energy consumption wall climbing robot with passive impactive negative pressure adhesion

Bioinspired Rigid–Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations

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