Climbing the walls [robots]

Tummala, R. Lal; Mukherjee, Ranjan; Xi, Ning; Aslam, D.M.; Dulimarta, Hans; Xiao, Jizhong; Minor, Mark A.; Dang, Giang Thi Huong

doi:10.1109/mra.2002.1160067

Cited by 117 publications

(53 citation statements)

References 14 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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“…In anti-terrorism applications, specifically anti-hijacking, wall-climbing robots could replace human operators to perform reconnaissance and surveillance tasks in harsh and difficult-to-access environments. The combination of reconnaissance technology and wall-climbing robot technology will, therefore, provide an alternative tool that will be cheaper, safer and more efficient [1]- [3].…”

Section: Introductionmentioning

confidence: 99%

Development of a wall-climbing robot with biped-wheel hybrid locomotion mechanism

Weiguang

Wang

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a wall-climbing robot for reconnaissance in anti-hijacking application. A novel biped-wheel hybrid locomotion mechanism is proposed, which is composed of a planetary gear train, a vacuum adhesion module and a negative pressure adhesion module. The bipedal, wheeled and hybrid locomotion modes are analyzed respectively. A prototype of the wall-climbing robot with compact size and low power consumption has been developed and a lot of performance tests have been conducted. The experimental results demonstrate that the wall-climbing robot has such characteristics as fast moving speed, excellent surface adaptability and obstacle negotiation capability.

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“…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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Climbing the walls [robots]

Cited by 117 publications

References 14 publications

Towards Penetration-based Clawed Climbing

Towards Penetration-based Clawed Climbing

Development of a wall-climbing robot with biped-wheel hybrid locomotion mechanism

Rapid pole climbing with a quadrupedal robot

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