Magneto: A Versatile Multi-Limbed Inspection Robot

Bandyopadhyay, Tirthankar; Steindl, Ryan; Talbot, Fletcher; Kottege, Navinda; Dungavell, Ross; Wood, Brett; Barker, James; Hoehn, Karsten; Elfes, Alberto

doi:10.1109/iros.2018.8593891

Cited by 50 publications

(38 citation statements)

References 17 publications

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“…Most climbing robots are based either on the use of suction or magnetic forces, or gripping mechanisms. The Magneto robot [ 11 ], besides being a very recent example of this last type of robots, is especially interesting because of the similarity with ROMERIN on the kinematics and some of the design concepts, like, for example, the 3 DOF compliant foot. The use of this type of joint at the end of the legs is important, since it avoids the transmission of high torques to the grip, as will be explained later.…”

Section: Related Workmentioning

confidence: 99%

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

Hernando

Gómez

Brunete

et al. 2021

Sensors

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Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper, a CFD (computer fluid dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

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Section: Related Workmentioning

confidence: 99%

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

Hernando

Gómez

Brunete

et al. 2021

Sensors

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“…Another robot was introduced with magnetic wheels to attach to thin and flat metal surfaces [27]. A four-legged robot, called Magneto, climbed a flat metal surface using electromagnetic feet [28], while a radiocontrolled robot used magnetic adsorption to attach and crawl inside the metal pipes [26]. Another robot used eight flat dry adhesive-based foot-pads connected to a motor actuated by four-bar mechanism [29].…”

Section: Related Workmentioning

confidence: 99%

iCrawl: An Inchworm-Inspired Crawling Robot

et al. 2020

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for their participation in the valuable discussions at various stages of the work. This work has been supported by a startup grant on Bio-inspired Robotics from Vidyasirimedhi Institute of Science & Technology (VISTEC) (P.M., project PI). We also thank FIGO company for participating in technical discussions, and PTT Exploration and Production Public Co. Ltd., for taking part in general discussions and providing the industrial pipes for robot testing.

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“…Those requirements were used to inform the final design of Bruce including morphology and choice of actuator. Legged robots such as MAX [13], a 2.25 m 18 DOF hexapod; Weaver [14] and Bullet [2], both 30 DOF hexapod robots; and Magneto [15], a quadruped with 3 DOF actuated limbs and 3 DOF compliant magnetic feet have also been extensively simulated using OpenSHC to develop new applications and functionality (Fig. 2).…”

Section: Design Philosophymentioning

confidence: 99%

OpenSHC: A Versatile Multilegged Robot Controller

et al. 2020

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Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source Syropod High-level Controller), a versatile high-level controller capable of generating gaits and poses for quasi-static multilegged robots, both simulated and with real hardware implementations. With full Robot Operating System (ROS) integration, the controller can be quickly deployed on robots with different actuators and sensor payloads. The flexibility of OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing the energetic performance of various leg configurations, kinematic arrangements and gaits over different locomotion speeds. With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. The experimental evaluation shows that the mammalian configuration offers lower power consumption across a range of step frequencies; with the insectoid configuration providing performance advantages at higher body velocities and increased stability at low step frequencies. OpenSHC is open-source and able to be configured for various number of joints and legs.

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Magneto: A Versatile Multi-Limbed Inspection Robot

Cited by 50 publications

References 17 publications

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

iCrawl: An Inchworm-Inspired Crawling Robot

OpenSHC: A Versatile Multilegged Robot Controller

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