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

Li, Xiaopeng; Wang, Xin; Feng, Bin

doi:10.1177/1729881420985721

Cited by 7 publications

(5 citation statements)

References 27 publications

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“…In another study, [ 61 ] present a robot designed for inspecting industrial vessels using a pair of coaxial propellers mounted on a wheeled platform to navigate vertically while neutralizing drag forces. Furthermore, vacuum adhesion technology has been effectively implemented in various window cleaning robots, as evidenced by [ 62 , 63 , 64 ].…”

Section: Classification Of Modular Legged and Climbing Robotsmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

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Section: Classification Of Modular Legged and Climbing Robotsmentioning

confidence: 99%

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Prados,

Hernando,

Gambao

et al. 2024

Biomimetics

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show abstract

“…According to the above settings, the control output is calculated. Adjust the output framework of the robot and the range of the control program, and make the judgment and processing of the detour route through the main controller, so as to finally realize the function of avoiding displacement of the patrol machine [9]. At the same time, it is also necessary to use large, medium and small fuzzy vectors to describe the robot's perception control situation, establish a specific control process, complete the collection and setting of its basic indicators, and lay a foundation for the design of subsequent fuzzy control programs [10].…”

Section: Determine Basic Control Indicators Of Patrol Robotmentioning

confidence: 99%

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Li,

Chen,

Jia

2023

International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023)

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The current fuzzy control nodes for mobile obstacle avoidance of patrol robots are mostly set to the single-layer form, and the control speed is slow, leading to the increase of fuzzy control time consumption. Therefore, the design and verification analysis of the fuzzy control method for mobile obstacle avoidance of patrol robots in substations based on laser radar are proposed. According to the actual control requirements and standard changes, it is necessary to determine the basic control indicators of the patrol robot first, increase the control speed of the robot in a multi-level manner, deploy multi-level 3D fuzzy control nodes, establish a grid multi-level control matrix, and build a fuzzy control model for the moving obstacle avoidance of the laser radar patrol robot on this basis. Fuzzy control is realized by improved artificial potential field processing. The final test results show that: through the verification of four test areas in the substation, the final fuzzy control time of the patrol robot is well controlled below 1.5s, indicating that the practical application effect of this robot control method is better, the speed and range of control are further expanded, and the handling of robot obstacle avoidance and displacement tasks is more diversified and flexible. It has stronger pertinence and practical application value.

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“…Vacuum adhesion has been successfully applied to a number of window cleaning robots. [19][20][21] The Magneto robot 22 is an example of a magnetic adhesion climbing robot, and it has some similarities with the proposed ROMERIN robot in the kinematics and in some of the design concepts, such as the three degrees of freedom compliant foot. Other example of magnetic adhesion is found in Peidró et al, 23 where the authors present magnetic grippers for the HyReCRo robot, which is a biped robot that can climb and explore steel structures.…”

Section: State Of Artmentioning

confidence: 99%

ROMERIN: A new concept of a modular autonomous climbing robot

Hernando

Gambao

Prados

et al. 2022

International Journal of Advanced Robotic Systems

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Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.

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

Cited by 7 publications

References 27 publications

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

ROMERIN: A new concept of a modular autonomous climbing robot

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