Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang, Guisheng; Cheng, Jinfeng

doi:10.3390/biomimetics8010047

Cited by 23 publications

(15 citation statements)

References 144 publications

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“…Subsequently, in 1975, they completed the construction of the second-generation prototype, Mod-2 [ 7 , 8 ]. Since then, many different gecko-inspired robots have been designed and built [ 9 , 10 , 11 ]. From the perspective of mobility mechanisms in existing research, gecko-inspired robots can be categorized into four types: legged, wheeled, tracked, and hybrid mobility systems [ 9 , 10 ].…”

Section: Introductionmentioning

confidence: 99%

“…Since then, many different gecko-inspired robots have been designed and built [ 9 , 10 , 11 ]. From the perspective of mobility mechanisms in existing research, gecko-inspired robots can be categorized into four types: legged, wheeled, tracked, and hybrid mobility systems [ 9 , 10 ]. The wheeled design usually has simple structures, fast movement speeds, and relatively easy control, but it has weak obstacle-surmounting abilities and is suitable for relatively flat-structured surfaces.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Introductionmentioning

confidence: 99%

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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“…Over the past two decades, different movement modes of cable-climbing robots had been developed, such as tracked, wheeled, legged, and rope-driven. These modes designed for cable detection all had both advantages and disadvantages [2]. Wheeled cable-climbing robots had attracted the attention of researchers, because of they had high speeds, continuous movement, simple structures, and simple controls.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing for wheeled cable-climbing robots with deflection correction

Jin,

Wen,

Zou

2023

Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023)

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Wheeled cable-climbing robots that can detect cable damages are widely used to liberate human resources and reduce bridge hazards. Most wheeled cable-climbing robots have poor stability and will deflect along the cable under uneven loading. In this paper, a visual servoing method for wheeled cable-climbing robots is proposed with applications in antideflection. The proposed method integrates visual localization and trajectory tracking control, enabling robots to precisely estimate the deflection angles and stably correct deflection in dynamic and complex environments. For visual localization, a deflection angle estimation algorithm that combines object detection and coplanar feature points matching is developed. Then, a reference image update strategy is used to overcome the visual servoing errors caused by images distortion. On the controlling side, the trajectory tracking of the wheeled cable-climbing robots is implemented under the framework of model predictive control (MPC) with constraint functions to achieve expected position while avoiding wheel slipping. Based on the Multibody and V-Realm simulation platforms, the visual servoing method of wheeled cable-climbing robots is demonstrated, and its effectiveness and accuracy are verified by experiments.

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“…Using the wall climbing method, the intelligent monitoring robot completes the work tasks; therefore, the working space of the robot is expanded. Moreover, due to the limited working space in vertical shafts, it is difficult to conduct safety monitoring, and this technical issue is overcome [5,6] accordingly. During the construction phase of the shaft, and under the premise that the production equipment, power supply cables, and communication methods are uncertain and unstable, resource consumption is minimized, while the monitoring function is maximized.…”

Section: Introductionmentioning

confidence: 99%

Research on Coupling Adsorption Experiments for Wall–Climbing Robots in Coal Mine Shafts

2023

Processes

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Based on the composite shaft lining structure, the research on the electromagnetic and negative pressure coupling adsorption technology of wall–climbing robots is of great significance to improve the level of safety monitoring during the construction and service of coal mine shafts. On the basis of theoretical research and computational data, the numerical simulation and simulation experiments of the coupled adsorption system of a wall–climbing robot are conducted in this research. In the ANSA software environment, of experimental models and experimental environments of electromagnetic and negative pressure adsorption devices are constructed to investigate, parameters such as air flow and the law behavior of fan pressure under different system conditions, including negative pressure and varying fan speeds. The intensity distribution of the magnetic flux inside the electromagnetic circuit under different working conditions and the law of change in the direction of movement are explored. Furthermore, the power consumption and power increment of the electromagnetic and negative pressure adsorption system under the same adsorption force output are compared and analyzed. Based on the experimental results, a series of conclusions are verified; firstly the negative pressure of the system should be formed under certain basic specific fundamental conditions; secondly, the main velocity of the negative pressure adsorption system and the full pressure of the fan are determined by the internal and external pressure difference and the fan speed, respectively; lastly, the adsorption efficiency of electromagnetic adsorption is significantly higher than that of negative pressure adsorption. These research findings are expected to introduce a new technical means approach for the safety monitoring of vertical shafts and shafts in coal mines, thereby demonstrating the theoretical significance and practical value of the application and development of an underground multi–scenario robot automation system in coal mines.

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Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Cited by 23 publications

References 144 publications

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

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

Visual servoing for wheeled cable-climbing robots with deflection correction

Research on Coupling Adsorption Experiments for Wall–Climbing Robots in Coal Mine Shafts

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