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This paper describes the design and control concepts of a wall-climbing robot. It has an hexapod configuration and it is able to manoeuvre on vertical surfaces carrying high payloads. Configuration and leg design criteria specific for climbing tasks are discussed. The controller architecture showing decentralised parallel control and hard real-time performance is outlined. New stability criteria for wall locomotion are introduced and a climbing gait using force distribution shows the working of our control scheme for wall gait generation. We call this four phase discontinuous sawing gait. This prototype is an example of a climber specifically tailored for industrial applications.

Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.

Purpose -The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces. Design/methodology/approach -The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot. Findings -The paper shows that the new design provides a reliable and high-performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.Research limitations/implications -In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned. Practical implications -The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small-lot production of the robots TITO 500. Originality/value -A new design has been developed for a high-performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.

Estimations of world population growth urgently require improving the efficiency of agricultural processes, as well as improving safety for people and environmental sustainability, which can be opposing characteristics. Industry is pursuing these objectives by developing the concept of the “intelligent factory” (also referred to as the “smart factory”) and, by studying the similarities between industry and agriculture, we can exploit the achievements attained in industry for agriculture. This article focuses on studying those similarities regarding robotics to advance agriculture toward the concept of “intelligent farms” (smart farms). Thus, this article presents some characteristics that agricultural robots should gain from industrial robots to attain the intelligent farm concept regarding robot morphologies and features as well as communication, computing, and data management techniques. The study, restricted to robotics for outdoor farms due to the fact that robotics for greenhouse farms deserves a specific study, reviews different structures for robot manipulators and mobile robots along with the latest techniques used in intelligent factories to advance the characteristics of robotics for future intelligent farms. This article determines similarities, contrasts, and differences between industrial and field robots and identifies some techniques proven in the industry with an extraordinary potential to be used in outdoor farms such as those derived from methods based on artificial intelligence, cyber-physical systems, Internet of Things, Big Data techniques, and cloud computing procedures. Moreover, different types of robots already in use in industry and services are analyzed and their advantages in agriculture reported (parallel, soft, redundant, and dual manipulators) as well as ground and aerial unmanned robots and multi-robot systems.