Design, implementation, and evaluation of an under-actuated miniature biped climbing robot

Minor, Mark A.; Dulimarta, Hans; Danghi, G.; Mukherjee, Ranjan; Tummala, R. Lal; Aslam, D.M.

doi:10.1109/iros.2000.895264

Cited by 47 publications

(27 citation statements)

References 14 publications

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“…The presented robot was developed under a biped concept with five degrees of freedom and two special grippers as end effectors. Similarly, an urban reconnaissance climbing biped robot is presented in Reference [34]. The developed robot was under-actuated and made smaller in order to access confined spaces.…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism

et al. 2018

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Façade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their performances are broadly affected by the frames that connect the glass panels. These frames generally act as a barrier for the glass façade cleaning robots to cross over from one glass panel to another, which leads to a performance degradation in terms of area coverage. We present a new class of façade cleaning robot with a biped mechanism that is able overcome these obstacles to maximize its area coverage. The developed robot uses active suction cups to adhere to glass walls and adopts mechanical linkage to navigate the glass surface to perform cleaning. This research addresses the design challenges in realizing the developed robot. Its control system consists of inverse kinematics, a fifth polynomial interpolation, and sequential control. Experiments were conducted in a real scenario, and the results indicate that the developed robot achieves significantly higher coverage performance by overcoming both negative and positive obstacles in a glass panel.

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Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism

et al. 2018

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“…The research presented in this paper was funded by the DARPA Chemical Robots Program. The authors are with the Massachusetts Institute of Technology (MIT), Cambridge, MA 02139 USA 1 , University of California, Berkeley, Berkeley, CA 94720 USA 2 , Boston Dynamics, Waltham, MA 02451 USA 3 (Corresponding author phone: 617-258-8482; e-mail: ncheng@mit.edu) coupled DOFs, do exist [9]. However, these systems typically have fixed configurations; coupled DOFs cannot be decoupled, limiting the control of the robot's maneuverability.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator

Cheng

Ishigami

Hawthorne

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described.

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“…Consequently, the poor inspection result will deduce either excessive or inadequate repairing work that is undesirable in term of costing and safety. Over the years, a number of climbing robots have been developed for various building inspection and cleaning applications (Tso et al, 2000;Tso et al, 2001;Zhang et al, 2001;Hillenbrand et al, 2001;Sattar et al, 2001;Bahr & Yin, 1994;Wang & Shao, 1999;Minor et al, 2000;Luk et al, 2005;Luk et al, 2006). Beside the above development, the authors have also been requested by industry to develop a number of climbing robots cater for various maintenance tasks.…”

Section: Introductionmentioning

confidence: 99%