Feasibility, planning and control of ground-wall transition for a suctorial hexapod robot

Gao, Yong; Wu, Wei; Wang, Xinmei; Li, Yanjie; Wang, Dongliang; Yu, Qiuda

doi:10.1007/s10489-020-01955-2

Cited by 21 publications

(9 citation statements)

References 43 publications

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“…The results have shown that the centrally symmetrical configuration has the advantages of flexible motion and high stability (Li et al, 2016). However, Gao et al (2021) has shown that the centrosymmetric structure of a hexapod adsorption robot is not suitable for arc‐space structures. In 2018, Tongji University designed a six‐legged negative‐pressure adsorption robot suitable for climbing on vertical glass curtain surfaces (Wang, 2018; Xu et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

“…In 2020, the South China University of Technology proposed a gait that crossed intersecting transition surfaces; it was initially validated using robot simulation software (Cai et al, 2021). In 2021, the South China University of Technology further developed a six‐legged negative‐pressure adsorption robot with four degrees of freedom (DoF) on one leg and proposed an “SS‐type interpolation function” gait planning algorithm that could span shaped intersecting surfaces (Gao et al, 2021). The above‐mentioned multilegged negative‐pressure adsorption robots and their gaits are unable to adapt to arc surfaces.…”

Section: Introductionmentioning

confidence: 99%

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ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

Ma,

Dian,

Guo

et al. 2024

Journal of Field Robotics

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Mobile robots with the ability to climb provide significant advantages in equipment contact operation and maintenance. In this work, an arc‐surface‐adsorption hexapod (ASAH) robot is designed for a class of internal cavity‐cylindrical‐type electrical equipment (ICCEE). The target of robot reliable movement on the ICCEE surface obtains its priority to be solved. Therefore, a matched‐specific motion control scheme is proposed. First, the mechanisms, adaptability, and motility of the ASAH robot are analyzed from a kinematic point of view. Subsequently, to solve the arc surface movement problem, this study proposes a novel six‐three‐legged composite gait and a “trapezoidal” foot tip trajectory algorithm, which improve safety in robot support phase movements and adsorption accuracy in the swing phase, respectively. In addition, based on the motion gait and trajectory, an active adsorption scheme is added to compensate for the position error. Finally, both virtual and physical prototype are constructed for performance verification. The simulation results verify the effectiveness of the proposed scheme in facilitating accurate motion on internal and external arc surfaces with different diameters, with an error lower than 5.3 mm/rad and rad/mm for movements in the circumferential and axial directions, respectively. Experimental results and application performance in a nuclear power plant further verify the effectiveness of the gait and trajectory algorithm; an overall success rate of 85% in circumferential movement was achieved with a maximum load weight of 2.63 kg, representing 76% of the robot body weight.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

Ma,

Dian,

Guo

et al. 2024

Journal of Field Robotics

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“…These potential application scenarios pose technical challenges for robot attachment devices. Industrial adhesion methods include negative pressure [13,14], aerodynamic force [15], and magnetic adhesion [16] used in robotics, particularly in the field of climbing robots from 1960s. On the contrary, these attachment devices based on traditional artificial adhesion technology have some drawbacks, as follows:…”

Section: Introductionmentioning

confidence: 99%

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Ding

2022

Front. Mech. Eng.

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Many organisms have attachment organs with excellent functions, such as adhesion, clinging, and grasping, as a result of biological evolution to adapt to complex living environments. From nanoscale to macroscale, each type of adhesive organ has its own underlying mechanisms. Many biological adhesive mechanisms have been studied and can be incorporated into robot designs. This paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in robotics. The study discussed how biological adhesive methods, such as dry adhesion, wet adhesion, mechanical adhesion, and sub-ambient pressure adhesion, progress in research. The morphology of typical adhesive organs, as well as the corresponding attachment models, is highlighted. The current state of bioinspired attachment device design and fabrication is discussed. Then, the design principles of attachment devices are summarized in this article. The following section provides a systematic overview of climbing robots with bioinspired attachment devices. Finally, the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

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“…However, the increasingly complex designs of wall-climbing robots entail new requirements for terrain-environment adaptability. For complex wall climbing, wall-climbing robots relying on foot motion [13][14][15][16][17][18][19] generally have higher degrees of freedom and have higher adaptability to the environment than wheeled and crawler wall-climbing robots. Guan et al [18] proposed a wall-climbing robot with bipedal motion.…”

Section: Introductionmentioning

confidence: 99%

“…Its unique inchworm motion enables it to move on discontinuous discrete surfaces with high flexibility. The Hexapod wall-climbing robot designed by Gao et al [14] can span different walls. Bionic wall-climbing robots using peristaltic, inchworm, crawling, and other motion modes [1,[20][21][22][23][24][25] can also move on complex walls by adapting to rough, uneven, and irregular contact surfaces.…”

Section: Introductionmentioning

confidence: 99%

A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

Huang

Zou

et al. 2021

Sensors

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Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable. It is therefore difficult for them to adapt to a discontinuous wall with particularly large gaps. Based on a modular design and inspired by leech peristalsis and internal soft-bone connection, a bionic crawling modular wall-climbing robot is proposed in this paper. The robot demonstrates the ability to handle variable load characteristics by carrying different numbers of modules. Multiple motion modules are coupled with the internal soft bone so that they work together, giving the robot variable-step-distance functionality. This paper establishes the robotic kinematics model, presents the finite element simulation analysis of the model, and introduces the design of the multi-module cooperative-motion method. Our experiments show that the advantage of variable step distance allows the robot not only to quickly climb and turn on walls, but also to cross discontinuous walls. The maximum climbing step distance of the robot can reach 3.6 times the length of the module and can span a discontinuous wall with a space of 150 mm; the load capacity increases with the number of modules in series. The maximum load that N modules can carry is about 1.3 times the self-weight.

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Feasibility, planning and control of ground-wall transition for a suctorial hexapod robot

Cited by 21 publications

References 43 publications

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

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