Abstract
Adhesion state is a key factor affecting the motion stability of a wall-climbing robot. According to different adhesion states, there is no universal method for compliant detachment. We propose an online impedance strategy for controlling peeling angle to realize compliant movement. Variable compliant motions are achieved by online tuning the stiffness and damping parameters of proportional-derivative control, which realizes compliant detachment with a peeling angle of π, the adhesion strength to adjust to a minimum and basically eliminated the instant change in normal adhesion strength at the detachment end state. The proposed controller was validated using a vertical climbing robot. The results showed that, with the proposed controller, the sudden change in the normal adhesion force during peeling was significantly reduced. Besides, there is no correlation between the sudden change in the normal adhesion force at the detachment end state and the adhesion state. Regardless of the adhesion states, the compliant detachment can be accomplished reliably.
Highlights
The robots based on dry adhesion have the advantages of low noise and low power consumption compared to the wall-climbing robots based on such things as vacuum suction cups [1], magnetic attraction [2,3], and gripping claws [4]
The detachment force trace of the robot during climbing was obtained to verify whether the online impedance adaptive control (OIAC) can control the adhesion strength of the adhesion comparing to trajectory tracking control (TTC)
The compliant detachment is the key obtained for stable movement of dry-adhesion wall-climbing robots, especially for vary adhesion states
Summary
Geckos are representative of animals with outstanding climbing abilities, and many kinds of wall-climbing robots have been developed to imitate the movement patterns of these animals. For the symmetrical robots AnyClimb [15] and AnyClimb II [16], the left and right adhesion units perform simultaneous detachment in the detachment stage, so that the rolling moments generated by detachment cancel each other, reducing their influence on robot stability. This kind of robot has requirements regarding the Academic Editor: Donato Romano. The adhesion state is influenced by many factors, making it difficult to predict, and it places a high requirement on the movement control of the wall-climbing robot. The vibration performance of the robot on various surfaces with various slope angles and the climbing success rate are used to verify robot movement stability
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