Dual Ascender Robot With Position Estimation Using Angle and Length Sensors

Seo, Min-Young; Yoo, Sung-Won; Kim, Jong-Won; Kim, Hwa Soo; Seo, TaeWon

doi:10.1109/jsen.2020.2978549

Cited by 19 publications

(6 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In previous studies, DARs employed a unique rope lengthbased sensor fusion method to estimate the position [10]. This sensor fusion method used data received from various sensors on the robot to perform position estimation.…”

Section: Previous Dar's Position Estimation Methodsmentioning

confidence: 99%

“…3. After the obtained data were fused to calculate position data based on both angle data and length data, the weight matrix was multiplied to each position data according to the position of the DAR for position estimation [10].…”

Section: Previous Dar's Position Estimation Methodsmentioning

confidence: 99%

“…Such robots can move not only upward and downward but also in both sideward directions. KITE [8], SkyScraper-I [9], and the DAR [10] are typical examples of robots with more than 2-DOFs. Façade cleaning robots with more than 2-DOFs inevitably require control because they must exhibit movements in more than 2 DOFs using rope alone.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

UKF-Based Sensor Fusion Method for Position Estimation of a 2-DOF Rope Driven Robot

et al. 2021

Self Cite

View full text Add to dashboard Cite

In this study, the unscented Kalman filter-based method was introduced as a new technique for position estimation of the two-degree-of-freedom façade cleaning robot known as the Dual Ascender Robot (DAR). While other façade cleaning robots use a winch, the DAR uses an ascender, resulting in rope slip inside the ascender. Rope slip does easily cause errors in length data, so DARs cannot be easily controlled based on length data as in the case of most façade cleaning robots. Therefore, the DARs estimate the length data and use it through position estimation to overcome the rope slip for control. DARs use a rope length-based sensor fusion method for position estimation. This method employs position data based on both length data and angle data to estimate the position; however, it is difficult to use for long periods of time owing to the increased error that accumulates with time. Therefore, the use of position data based on angle data is proposed herein via application of the unscented Kalman filter. This unscented Kalman filter-based method is tested to confirm that the positional estimation performance is improved relative to that achieved via the previously used method. The performance improvements are compared in terms of accuracy and repeatability using the double ball bar method, and the errors in accuracy and repeatability are found to be reduced by approximately 2-3 times. INDEX TERMS Dual ascender robot, façade cleaning robot, sensor fusion, unscented Kalman filter, position estimation, IMU sensor.

show abstract

Section: Previous Dar's Position Estimation Methodsmentioning

confidence: 99%

Section: Previous Dar's Position Estimation Methodsmentioning

confidence: 99%

See 1 more Smart Citation

UKF-Based Sensor Fusion Method for Position Estimation of a 2-DOF Rope Driven Robot

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…The robot can be raised or lowered via a winch. Seo et al [ 141 ] designed a parallel robot driven by double hoisting cables. The robot consists of two lifters and two rope-measurement sensor structures.…”

Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

View full text Add to dashboard Cite

Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

show abstract

“…Appropriate actuators were selected according to the required climbing force. By using this type of traction mechanism, Seo et al proposed a dual-ascender robot [92]. As the robot relies on the friction between the rope and the traction wheel to move, the length error caused by the rope sliding is inevitable.…”

Section: F Cable-driven Locomotionmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

View full text Add to dashboard Cite

Maintaining a clean living and working environment is an important means to ensure people's quality of life. As the height of the building increases, the traditional method of cleaning windows by human workers not only takes a long time, but also brings the risk of falling off. It is necessary to replace human workers with robots for carrying out such heavy-duty and dangerous work. Various window-cleaning robots have been applied in cleaning work for certain actual scenarios. In this paper, the state-of-the-art survey of recent developments on window-cleaning robots is presented. The applications of window-cleaning robots in two main domains of domestic use and high-rise building environments are presented and the corresponding technical requirements are summarized. Afterward, the main techniques of window-cleaning robot development including locomotion mechanisms, adhesion mechanisms, cleaning mechanisms, and sensor and controller units are reviewed in detail. The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.INDEX TERMS Window-cleaning robot, automated machine, locomotion mechanism, adhesion mechanism, cleaning mechanism, sensor and controller.

show abstract

Dual Ascender Robot With Position Estimation Using Angle and Length Sensors

Cited by 19 publications

References 20 publications

UKF-Based Sensor Fusion Method for Position Estimation of a 2-DOF Rope Driven Robot

UKF-Based Sensor Fusion Method for Position Estimation of a 2-DOF Rope Driven Robot

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

A Survey on Techniques and Applications of Window-Cleaning Robots

Contact Info

Product

Resources

About