Adaptive impedance control of a cleaning unit for a novel wall-climbing mobile robotic platform (ROPE RIDE)

Kim, Taegyun; Seo, Kunchan; Kim, Jong-Won; Kim, Hwa Soo

doi:10.1109/aim.2014.6878210

Cited by 11 publications

(8 citation statements)

References 7 publications

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“…Nevertheless, considering the noise and light weight of the robot, passive suction cups are expected to be used for weight minimization of wall-climbing robots. Considering the locomotion mechanism, wall-climbing robots can also be classified into four types, which are legged [21], wheeled [22], cable-driven [23], and tracked belt [10,16,24]. Each locomotion mechanism has its advantages and disadvantages.…”

Section: Introductionmentioning

confidence: 99%

“…Although wheeled locomotion can generate high velocities, wheeled robots may generate problems with the loss of friction with the surface due to small contact area. Cable-driven locomotion is commonly utilized in current window-cleaning of tall buildings [23]. However, the cable system must be equipped with a trolley on the roof of the building.…”

Section: Introductionmentioning

confidence: 99%

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A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Tang²,

et al. 2020

Robotics

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This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Tang²,

et al. 2020

Robotics

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“…A new wall cleaning unit using an impedance control system is proposed in the work mentioned in [7]. As an extended work, authors also experimentally demonstrated the effectiveness of the force control system to press the brushes into the wall by exerting a constant force [8]. Furthermore, Fraunhofer IFF, a research institute, developed a wall cleaning robot named SIRIUS [9].…”

Section: Introductionmentioning

confidence: 99%

Foot Location Algorithm considering Geometric Constraints of Façade Cleaning

Nansai

Itoh

2019

JASSE

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The purpose of this study is to propose a foot location algorithm for a glass façade cleaning robot. As an initial stage of this study, we set three assumptions regarding aimed module robot and window shape. These assumptions set the system some geometric constraint conditions: Right edge of the right cleaning unit moves along with the line of the right window frame. The cleaning area of right and left cleaning unit overlaps a little. The module robot walks with a step at a time. From the conditions, a foot location determination algorithm is constructed corresponding to four situations. The effectiveness of the algorithm is verified through a numerical simulation.

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“…In addition, a novel control system has been developed to handle the cleaning task [77]. A new impedance control system has been proposed, and the effectiveness of the force control system to press brushes against the wall with a constant force has been shown through repeated experiments [78].…”

Section: Rope And/or Rail Grippingmentioning

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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Adaptive impedance control of a cleaning unit for a novel wall-climbing mobile robotic platform (ROPE RIDE)

Cited by 11 publications

References 7 publications

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Foot Location Algorithm considering Geometric Constraints of Façade Cleaning

A Survey of Wall Climbing Robots: Recent Advances and Challenges

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