Design and control of miniature climbing robots with nonholonomic constraints

Dulimarta, Hans; Tummala, R. Lal

doi:10.1109/wcica.2002.1020138

Cited by 20 publications

(10 citation statements)

References 7 publications

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“…Such robots need not incorporate special fixtures or tools, nor need they be designed specifically for climbing, as have previous climbing robots (e.g., [2,3,11,16,17,25]). Their flexibility could benefit several application areas, including search-and-rescue, surveillance, and planetary exploration.…”

Section: The Climbing Problemmentioning

confidence: 99%

Multi-Step Motion Planning for Free-Climbing Robots

Bretl

Lall

Latombe

et al. 2005

Springer Tracts in Advanced Robotics

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Abstract. This paper studies non-gaited, multi-step motion planning, to enable limbed robots to free-climb vertical rock. The application of a multi-step planner to a real free-climbing robot is described. This planner processes each of the many underlying one-step motion queries using an incremental, sample-based technique. However, experimental results point toward a better approach, incorporating the ability to detect when one-step motions are infeasible (i.e., to prove disconnection). Current work on a general method for doing this, based on recent advances in computational real algebra, is also presented.

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Section: The Climbing Problemmentioning

confidence: 99%

Multi-Step Motion Planning for Free-Climbing Robots

Bretl

Lall

Latombe

et al. 2005

Springer Tracts in Advanced Robotics

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“…For holding a robot attached to a smooth surface, the mainly used systems are: suction cups [1], [2], [3], [4], attraction force generated by propeller (negative pressure) [5], [6] or magnets [7], [8], [9], [10]. Other new systems such as biological inspired adherence through wet or dry adhesion and electro adherence have also been developed (See [11] for instance).…”

Section: Introductionmentioning

confidence: 99%

OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

Tavakoli

Viegas

Marques

et al. 2013

Robotics and Autonomous Systems

115

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Abstract-This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of Omniclimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed.

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“…After a path has been found using the road map method the potential field method is used for smoothening the path Barraquand et al [2]. The problem of motion planning of non-holonomic biped miniature climbing robots have been addressed by Dulimarta and Tummala [5]. Kuffner et al [8,9] have developed a method of efficient path planning and obstacle avoidance for biped humanoid robots based on optimizing a cost function which determines the best position to place the robots foot.…”

Section: Introductionmentioning

confidence: 99%

Path Planning for a Statically Stable Biped Robot Using PRM and Reinforcement Learning

Kulkarni

Goswami

Guha

et al. 2006

J Intell Robot Syst

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In this paper path planning and obstacle avoidance for a statically stable biped robot using PRM and reinforcement learning is discussed. The main objective of the paper is to compare these two methods of path planning for applications involving a biped robot. The statically stable biped robot under consideration is a 4-degree of freedom walking robot that can follow any given trajectory on flat ground and has a fixed step length of 200 mm. It is proved that the path generated by the first method produces the shortest smooth path but it also increases the computational burden on the controller, as the robot has to turn at almost all steps. However the second method produces paths that are composed of straightline segments and hence requires less computation for trajectory following. Experiments were also conducted to prove the effectiveness of the reinforcement learning based path planning method.

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Design and control of miniature climbing robots with nonholonomic constraints

Cited by 20 publications

References 7 publications

Multi-Step Motion Planning for Free-Climbing Robots

Multi-Step Motion Planning for Free-Climbing Robots

OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

Path Planning for a Statically Stable Biped Robot Using PRM and Reinforcement Learning

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