Design and Motion Planning of a Biped Climbing Robot with Redundant Manipulator

Chang, Qing; Luo, Xiwen; Qiao, Zhixia; Li, Qian

doi:10.3390/app9153009

Cited by 15 publications

(6 citation statements)

References 26 publications

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“…RoboSapien [95] Prototype solution, ZMP (Zero Moment Point) stability control, teleoperated system Cassie [96,97].…”

Section: Wl-12riii [94]mentioning

confidence: 99%

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Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs.

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“…RoboSapien [95] Prototype solution, ZMP (Zero Moment Point) stability control, teleoperated system Cassie [96,97].…”

Section: Wl-12riii [94]mentioning

confidence: 99%

“…RoboSapien [95] Prototype solution, ZMP (Zero Moment Point) stability control, teleoperated system Cassie [96,97]. Prototype solution, autonomous walking WL-12RIII [94] and RoboSapien [95] are inspired by humanoid locomotion. Cassie [96,97] is the most recent robot of the three listed.…”

Section: Wl-12riii [94]mentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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“…Climbing manipulator robot is a robot system designed to inspect the underside of bridges. It consists of two five-degree-of-freedom (DOF) electromagnetic climbing feet that can adhere to the bridge guardrails, and a seven-DOF robotic arm that carries inspection device to conduct inspections (Chang et al , 2019). A ring-type wall-climbing robot equipped with high definition cameras could approach to detect cracks on the surface of bridge piers (Jang et al , 2020).…”

Section: Introductionmentioning

confidence: 99%

A heavy-load wall-climbing robot for bridge concrete structures inspection

Lyu,

Wang,

et al. 2024

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Purpose The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges. Design/methodology/approach By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot. Findings The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot. Practical implications The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot. Originality/value A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

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“…Extensive experiments prove its stable wall climbing ability and excellent cleaning performance. 5 In addition, wall-climbing robots are used in ship rust removal, [6][7][8] bridge maintenance, [9][10][11] building cleaning, 12,13 investigation and rescue 14,15 and other fields.…”

Section: Introductionmentioning

confidence: 99%

Multi-body dynamics model of crawler wall-climbing robot

Fang

Wang

Cui

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the robot is established based on the method of discretizing the force load of the track shoe. The correctness of the kinematic model and dynamic model is proved by comparing two different ways of virtual prototype simulation and prototype experiment. According to the simulation results of the dynamic model and virtual prototype, the influence of design parameters on the motion performance of the wall-climbing robot is analyzed. The smaller the speed difference between the two tracks of the robot, the longer the gauge between the two tracks, and the greater the inclination of the adsorption wall, the larger the turning radius of the robot will be. The research content based on this paper can provide a new design optimization method and theoretical basis for improving crawler wall-climbing robots and crawler vehicles.

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Design and Motion Planning of a Biped Climbing Robot with Redundant Manipulator

Cited by 15 publications

References 26 publications

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

A heavy-load wall-climbing robot for bridge concrete structures inspection

Multi-body dynamics model of crawler wall-climbing robot

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