Foot Location Algorithm considering Geometric Constraints of Façade Cleaning

Nansai, Shunsuke; Itoh, Hiroshi

doi:10.15748/jasse.6.177

Cited by 3 publications

(2 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…One is a modular robot assembled by a linear actuator, and another is a modular biped robot. For the modular biped robot, they proposed a foot location algorithm for glass façade cleaning [37]. In the previous works, however, the approach that the robots obtain environmental information and own states was not considered.…”

Section: Introductionmentioning

confidence: 99%

Window Shape Estimation for Glass Façade-Cleaning Robot

et al. 2023

View full text Add to dashboard Cite

This paper presents an approach to the estimation of a window shape for increasing the adaptability of glass façade-cleaning robots to different buildings. For this approach, a window scanning robot equipped with a 2D laser range scanner installed perpendicularly to a window surface is developed for the testbed, and a method for the window shape estimation is proposed, which consists of the robot’s pose estimation with an extended Kalman filter (EKF) and the loop closure based on the robot’s pose estimated. The effectiveness of the proposed approach is demonstrated through an experiment that is carried out on a window placed on a floor. The experimental results show that the window scanning robot can acquire a window shape, moving on a window surface, and the proposed approach is effective in increasing the accuracy of the window shape estimation.

show abstract

Section: Introductionmentioning

confidence: 99%

Window Shape Estimation for Glass Façade-Cleaning Robot

et al. 2023

View full text Add to dashboard Cite

show abstract

“…16 Many researchers have developed various types of facade cleaning robot along with their control strategies. [17][18][19][20] However, many of them who focus on the posture control of the robot are preliminary and need to be improved further. The SMC has been applied to various aspects of the robot and quadrotor in some researches.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control of a novel facade cleaning robot with four-ducted fan drive

Wang

Feng

2021

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

With the development of modern cities, the demand for cleaning glass curtain walls in urban skyscrapers is increasing, and therefore, many researches on facade cleaning robots have been carried out in the past few decades. In this article, a novel type of facade cleaning robot based on four-ducted fan is proposed. To improve the load capacity of the robot, the lifting and horizontal movement are, respectively, supported by an independent lifting mechanism and a lateral movement mechanism. Unlike the previous passive and active suction, the powerful suction power of the robot is provided by the four-ducted fan. Meanwhile, the obstacle-climbing force is caused by the forward of the four-ducted fan that improves the crossing obstacle ability. In addition, an incremental sliding mode algorithm is applied for controlling the posture when the robot crosses obstacles, which can ensure the stable performance of the cleaning robot under disturbance. Some simulations and experiments are conducted and the results demonstrate the effectiveness and robustness of the designed facade cleaning robot.

show abstract