The superior mobility and function of W-Climbot - A bio-inspired modular biped wall-climbing robot

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Volumn , Issue , 2011, Pages 509-514

  Zhu, Haifei ^a   Guan, Yisheng ^a   Wu, Wenqiang ^a   Zhou, Xuefeng ^a   Zhang, Lianmeng ^a   Zhang, Xianmin ^a   Zhang, Hong ^a,b  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b UNIVERSITY OF ALBERTA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BIO-INSPIRED; CRITICAL CASE; EXTERIOR SURFACES; INCHWORM-LIKE; INTERIOR SURFACES; KINEMATIC STRUCTURES; MANIPULATION FUNCTIONS; MODULAR APPROACH; OMNI-DIRECTIONAL; PICK-AND-PLACE; POTENTIAL APPLICATIONS; ROBOT SYSTEM; SUCTION FORCE; SUCTION MODULE; SUPERIOR MOBILITY; WALL CLIMBING ROBOT; WALL-CLIMBING;

BIOMIMETICS; MOBILE ROBOTS; ROBOT APPLICATIONS; ROBOTICS;

MANIPULATORS;

EID: 84860764327     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2011.6181337     Document Type: Conference Paper

References (29)

1. T. Bretl, S. Rock, and J.-C. Latombe. Motion planning for a threelimbed climbing robot in vertical natural terrain. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2947-2953, 2003.
2. H. Chen, W. Sheng, N. Xi, and J. Tan. Motion control of a micro biped robot for nondestructive structure inspection. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 480-485, 2005.
3. K. A. Daltorio, T. C. Witushynsky, and et al. A body joint improves vertical to horizontal transitions of a wall-climbing robot. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 3046-3051, 2008.
4. J. Grieco, M. Prieto, M. Armada, and et al. A six-legged climbing robot for high payloads. In Proc. IEEE Int. Conf. on Control Applications, pages 446-450, 1998.
5. Y. Guan, L. Jiang, X. Zhang, and et al. Development of novel robots with modular methodology. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2385-2390, 2009.
6. Y. Guan, L. Jiang, X. Zhang, and H. Zhang. Climbing gaits of a modular biped climbing robot. In IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pages 532-537, 2009.
7. D. Hougen, J. Bonney, and et al. A miniature robotic system for reconnaissance and surveillance. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 501-507, 2000.
8. S. Kim, M. Spenko, S. Trujillo, and et al. Smooth vertical surface climbing with directional adhesion. IEEE Transactions on Robotics, 24(1):65-74, 2008. (Pubitemid 351411198)
9. S. Krosuri and M. Minor. A multifunctional hybrid hip joint for improved adaptability in miniature climbing robots. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 312-317, 2003.
10. M. Li and L. Sun. Workspace and passable enviroment analysis of an underactuated inchwarm-link micro-robot. In Proc. IEEE Int. Conf. on Mechatronics and Automation, pages 1741-1744, 2005.
11. D. Longo and G. Muscato. The alicia3 climbing robot: A three-module robot for automatic wall inspection. IEEE Robotics & Automation Magazine, 13(1):42-50, 2006.
12. B. Luk, D. Cooke, S. Galt, and et al. Intelligent legged climbing service robot for remote inspection and maintenance in hazardous environments. Robotics and Autonomous Systems, 53:142C152, 2005.
13. M. Minor, H. Dulimarta, G. Danghi, R. Mukherjee, R. Lal Tummala, and D. Aslam. Design, implementation, and evaluation of an underactuated miniature biped climbing robot. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1999-2005, 2000.
14. T. Miyake, H. Ishihara, and et al. Basic studies on wet adhesion system for wall climbing robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1920-1925, 2007.
15. M. Murphy. Biologically-inspired synthetic dry adhesives for wall-climbing robots. Carnegie Mellon University, 2008.
16. M. P. Murphy, M. Sitti, and et al. Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives. IEEE/ASME Transactions on Mechatronics, 12(3):330-338, 2007. (Pubitemid 47018784)
17. A. Nagakubo and S. Hiroseand. Walking and running of the quadruped wall-climbing robot. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1005-1012, 1994.
18. H. Prahlad, R. Pelrine, and et al. Electroadhesive robots - wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 3028-3033, 2008.
19. J. Shang, T. Sattar, and et al. Design of a climbing robot for inspecting aircraft wings and fuselage. Journal of Industrial Robot, 34(6):495-502, 2007. (Pubitemid 47537716)
20. W. Sheng and et al. Permanent magnetic system design for the wall-climbing robot. In Proc. IEEE Int. Conf. on Mechatronics and Automation, pages 2078-2083, 2005.
21. M. Silva, J. Machado, and J. Tar. A survey of technologies for climbing robots adhesion to surfaces. In Proc. IEEE Int. Conf. on Computational Cybernetics, pages 127-132, 2008.
22. Y. Song, C. Lee, I. Koo, and et al. Development of wall climbing robotic system for inspection purpose. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1990-1995, 2008.
23. M. Spenko, G. Haynes, J. Saunders, M. Cutkowsky, A. Rizzi, R. Full, and D. Koditschek. Biologically inspired climbing with a hexapedal robot. Journal of Field Robotics, 24(4-5):223-242, 2008. (Pubitemid 351689450)
24. O. Unver and M. Sitti. Tankbot: A miniature, peeling based climber on rough and smooth surfaces. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2282-2287, 2009.
25. J. Xiao, M. Minor, H. Dulimarta, N. Xi, R. Mukherjee, and R. Tummala. Modeling and control of an under-actuated miniature crawler robot. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1546-1551, 2001.
26. M. Yue, N. Xi, M. Minor, and R. Mukherjee. Dynamic workspace analysis and motion planning for a micro biped walking robot. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 1900-1905, 2000.
27. H. Zhang, J. Zhang, G. Zong, and et al. Sky cleaner 3: a real pneumatic climbing robot for glass-wall cleaning. IEEE Robotics & Automation Magazine, 13(1):32-41, 2006.
28. H. Zhu, Y. Guan, C. Cai, L. Jiang, X. Zhang, and H. Zhang. W-climbot: A biped modular wall-climbing robot. In IEEE Int. Conf. on Mechatronics and Automation, pages 1399-1404, 2010.
29. J. Zhu, D. Sun, and et al. Development of a tracked climbing robot. Journal of Intelligent and Robotic Systems, 35:427-444, 2002.