A wall-climbing robot for labelling scale of oil tank's volume

Xu, Zeliang; Ma, Ping

doi:10.1017/s0263574701003964

Cited by 97 publications

(56 citation statements)

References 2 publications

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“…The majority of efforts to develop climbing robots have been for urban settings with smooth glass or metal surfaces where suction and magnetic approaches to generating adhesion are possible. Some examples of robots that have used a suction based approach include [8,10,15]; some magnetic based climbers include [2,13]. A few robots have also addressed climbing on rough rock surfaces, employing strong grips capable of sustaining tensile and shear loads [3,4].…”

Section: Introductionmentioning

confidence: 99%

Towards Penetration-based Clawed Climbing

Provancher

Clark

Geisler

et al. 2005

Climbing and Walking Robots

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Section: Introductionmentioning

confidence: 99%

Towards Penetration-based Clawed Climbing

Provancher

Clark

Geisler

et al. 2005

Climbing and Walking Robots

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“…Xu et al have developed a wall climbing robot with magnetic tracks [69]. The permanent magnets and metal blocks are placed alternatively in the crawlers mounted on the robot.…”

Section: Magnetic Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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“…For climbing a wooden telephone pole, the robot uses sharp claws that penetrate the wood. 2 The claws currently used for the robot are engineered from post-mortem surgical needles, and are sufficiently hardened and sharp for the task at hand. Front claws, with the fore legs wrapping around the pole, are angled to align with the expected ground reactions forces, angled inward and slightly downward.…”

Section: A Experiments Proceduresmentioning

confidence: 99%

“…While many robots have relied upon surface-specific attachment mechanismssuch as magnets ( [1], [2]), suction ( [3], [4], [5]), or the use of handholds to grip ( [6], [7])-we believe the most useful climbing robots will be capable of locomotion on a variety of surfaces, particularly common building materials. Accordingly, we have built a series of successful robots, capable of quasi-static climbing 1 on building surfaces such as brick and stucco, as well as climbing the trunks of trees [9], [10], [8].…”

Section: Introductionmentioning

confidence: 99%

Rapid pole climbing with a quadrupedal robot

Haynes

Khripin

Lynch

et al. 2009

2009 IEEE International Conference on Robotics and Automation

143

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This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine-mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage-includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot's design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved-and, we believe, heretofore impossible-with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot's general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveillance operations as well as ad hoc networking. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2009 (ICRA 2009)This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. Abstract-This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine-mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage-includes several novel mechanical features, including novel linkage designs for its legs and a non-backdrivable, energy-dense power transmission to enable high-speed climbing. We summarize the robot's design and document a climbing behavior that achieves rapid ascent of a wooden telephone pole at 21 cm/s, a speed previously unachieved-and, we believe, heretofore impossible-with a robot of this scale. The behavioral gait of the robot employs the mechanical design to propel the body forward while passively maintaining yaw, pitch, and roll stability during climbing locomotion. The robot's general-purpose legged design coupled with its specialized ability to quickly gain elevation and park at a vertical station silently with minimal energy consumption suggest potential applications including search and surveilla...

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A wall-climbing robot for labelling scale of oil tank's volume

Cited by 97 publications

References 2 publications

Towards Penetration-based Clawed Climbing

Towards Penetration-based Clawed Climbing

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Rapid pole climbing with a quadrupedal robot

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