ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme
Congjun Ma,
Songyi Dian,
Bin Guo
et al.
Abstract:Mobile robots with the ability to climb provide significant advantages in equipment contact operation and maintenance. In this work, an arc‐surface‐adsorption hexapod (ASAH) robot is designed for a class of internal cavity‐cylindrical‐type electrical equipment (ICCEE). The target of robot reliable movement on the ICCEE surface obtains its priority to be solved. Therefore, a matched‐specific motion control scheme is proposed. First, the mechanisms, adaptability, and motility of the ASAH robot are analyzed from … Show more
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