A spider-like robot that climbs vertically in ducts or pipes

Neubauer, W.

doi:10.1109/iros.1994.407465

Cited by 101 publications

(57 citation statements)

References 5 publications

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“…3. Robots designed to climb within pipes and ducts [34,39,48]. These are multi-limbed robots that, like in our work, exploit friction by pushing at multiple contact points along opposite directions.…”

Section: Climbing Robotsmentioning

confidence: 97%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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Abstract. The goal of this research is to enable a multi-limbed robot to climb vertical rock using techniques similar to those developed by human climbers. The robot consists of a small number of articulated limbs. Only the limb end-points can make contact with the environment-a vertical surface with small, arbitrarily distributed features called holds. A path through this environment is a sequence of one-step climbing moves in which the robot brings a limb end-point to a new hold. The robot maintains balance during each move by pushing and/or pulling at other holds, exploiting contact and friction at these holds while adjusting internal degrees of freedom to avoid sliding. The paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It proposes an efficient test of the quasi-static equilibrium of these robots and describes a fast planner based on this test to compute one-step climbing moves. This planner is demonstrated in simulation for both robots.

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Section: Climbing Robotsmentioning

confidence: 97%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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“…Such robots need not incorporate special fixtures or tools, nor need they be designed specifically for climbing, as have previous climbing robots (e.g., [2,3,11,16,17,25]). Their flexibility could benefit several application areas, including search-and-rescue, surveillance, and planetary exploration.…”

Section: The Climbing Problemmentioning

confidence: 99%

Multi-Step Motion Planning for Free-Climbing Robots

Bretl

Lall

Latombe

et al. 2005

Springer Tracts in Advanced Robotics

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Abstract. This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is described. This planner processes each of the many underlying one-step motion queries using an incremental, sample-based technique. However, experimental results point toward a better approach, incorporating the ability to detect when one-step motions are infeasible (i.e., to prove disconnection). Current work on a general method for doing this, based on recent advances in computational real algebra, is also presented.

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“…As shown in figure 1(d), the wall-press type, which has a number of advantages in climbing vertical pipelines, corresponds to the robot with a flexible mechanism for pressing the wall with whatever means they apply [6], [7]. As depicted in figure 1(e), the walking type possessing articulated legs can produce highly sophisticated motions [8]- [9]. The inchworm type given in figure 1(f) is usually employed for pipelines with very small diameters [10]- [11].…”

Section: Introductionmentioning

confidence: 99%