Development of a low-cost modular pole climbing robot

Ripin, Zaidi Mohd; Soon, Tan Beng; Abdullah, Ahmad Badri; Samad, Z.

doi:10.1109/tencon.2000.893569

Cited by 41 publications

(19 citation statements)

References 2 publications

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“…2. Robots whose end-effectors exploit features of the environment-e.g., holes (in which they insert pegshaped end-effectors) [5,52], handrails or bars [1], and poles [47]. Applications include construction, inspection, and repair of truss structures, like space stations, electricity pylons, and bridges.…”

Section: Climbing Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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Abstract. The goal of this research is to enable a multi-limbed robot to climb vertical rock using techniques similar to those developed by human climbers. The robot consists of a small number of articulated limbs. Only the limb end-points can make contact with the environment-a vertical surface with small, arbitrarily distributed features called holds. A path through this environment is a sequence of one-step climbing moves in which the robot brings a limb end-point to a new hold. The robot maintains balance during each move by pushing and/or pulling at other holds, exploiting contact and friction at these holds while adjusting internal degrees of freedom to avoid sliding. The paper first considers a planar three-limbed robot, then a 3-D four-limbed robot modeled after a real hardware system. It proposes an efficient test of the quasi-static equilibrium of these robots and describes a fast planner based on this test to compute one-step climbing moves. This planner is demonstrated in simulation for both robots.

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Section: Climbing Robotsmentioning

confidence: 99%

Toward Autonomous Free-Climbing Robots

Latombe

Rock

2005

Springer Tracts in Advanced Robotics

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“…An inchworm robot, using electromagnetic force to attach itself to ferrous surfaces, was developed in [5], but structural manipulation abilities are not included. Ripin et al [6] and Tavakoli et al [7] developed pole-climbing robots, and the latter has some capacity for manipulation. Amano, Osuka, and Tarn [8] developed a robot for climbing high-rise buildings.…”

Section: B Related Workmentioning

confidence: 99%

Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

Yun

Hjelle

Schweikardt

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we describe an optimal reconfiguration planning algorithm that morphs a grounded truss structure of known geometry into a new geometry. The plan consists of a sequence of paths to move truss elements to their new locations that generate the new truss geometry. The trusses are grounded and remain connected at all time. Intuitively, the algorithm grows gradually the new truss structure from the old one. The truss elements are rigid bars joined with 18-way connectors. The paper also introduces the design of a truss-climbing robot that can execute the plan.

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“…Robots whose end-effectors match engineered features of the environment like fences or porous materials or bars [6,36,37,2] were developed. Robots for climbing inside pipes or ducts [21,25] or climbing across poles [5,1,24,31,3,34,13] were also developed. The later group is called Pole Climbing Robots (PCRs).…”

Section: Introductionmentioning

confidence: 99%