Simulation and locomotion control for the Alicia climbing robot

22nd International Symposium on Automation and Robotics in Construction, ISARC 2005

Volumn , Issue , 2005, Pages

  Longo, Domenico ^a   Muscato, Giovanni ^a   Sessa, Salvatore ^a  

^a UNIVERSITY OF CATANIA   (Italy)

Author keywords

Climbing robot; Locomotion control; Maintenance and inspection

Indexed keywords

ENGINES; NONDESTRUCTIVE EXAMINATION; OIL TANKS; ROBOTICS;

CLIMBING ROBOTS; LOCOMOTION CONTROL; LOCOMOTION STRATEGIES; MAINTENANCE AND INSPECTIONS; ROBOT SIMULATORS; SIMULINK; SUCTION CUP; VERTICAL WALL;

ROBOTS;

EID: 85088748780     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.22260/isarc2005/0050     Document Type: Conference Paper

References (6)

1. American Petroleum Institute, "Tank inspection, repair, alteration and reconstruction", Standard 653, January 1992, API, Washington, DC.
2. Berns, K. and Hillenbrand, C., "Climbing robots for commercial applications - a survey", Proceedings of the 6th International Conference on Climbing and Walking Robots CLAWAR 2003, 17-19 September 2003, Professional Engineering Publishing, Catania, Italy, pp. 771-6.
3. La Rosa, G., Messina, M., Muscato, G. and Sinatra, R. (2002), "A low cost lightweight climbing robot for the inspection of vertical surfaces", Mechatronics, Vol. 12, pp. 71-96.
4. Schraft, R.D., Simons, F., Schafer, T., Keil, W. and Anderson, S. (2003), "Concept of a low-cost, window-cleaning robot", Proceedings of the 6th International Conference on Climbing and Walking Robots CLAWAR 2003, 17-19 September 2003, Professional Engineering Publishing, Catania, Italy, pp. 785-92.
5. Weise, F., Kohnen, J., Wiggenhauser, H., Hillenbrand, C. and Berns, K. (2001), "Non-destructive sensors for inspection of concrete structures with a climbing robot", Proceedings of the 4th International Conference on Climbing and Walking Robots CLAWAR 2001, 24-26 September 2001, Professional Engineering Publishing, Karlsruhe, Germany, pp. 945-52.
6. D. Longo, G. Muscato, "A modular approach for the design of the Alicia3 climbing robot for industrial inspection", Industrial Robot: An International Journal, Vol. 31, N. 2, pp.148-158, 2004.