Climbing Robot Research Articles

An Asymmetric Independently Steerable Wheel for Climbing Robots and Its Motion Control Method

Climbing robots, with their expansive workspace and flexible deployment modes, have the potential to revolutionize the manufacturing processes of large and complex components. Given that the surfaces to be machined typically exhibit variable curvature, good surface adaptability, load capacity, and motion accuracy are essential prerequisites for climbing robots in manufacturing tasks. This paper addresses the manufacturing requirements of climbing robots by proposing an asymmetric independently steerable wheel (AISW) for climbing robots, along with the motion control method. Firstly, for the adaptability issue of the locomotion mechanism on curved surfaces under heavy load, an asymmetric independently steerable wheel motion module is proposed, which improves the steering difficulty of the traditional independently steerable wheel (ISW) based on the principle of steering assisted by wheels. Secondly, a kinematic model of the AISW chassis is established and, on this basis, a trajectory tracking method based on feedforward and proportional–integral feedback is proposed. Comparative experimental results on large, curved surface components show that the asymmetric independently steerable wheel has lower steering resistance and higher motion accuracy, significantly enhancing the reachability of climbing robots and facilitating their application in the manufacturing of large and complex components.

Structured Light Vision-Based Automatic Gripping of Pipes in Biped Climbing Robots

Structured Light Vision-Based Automatic Gripping of Pipes in Biped Climbing Robots

CAMs-SLAM: Cloud-Based Multisubmap VSLAM for Multisource Asynchronous Sensing of Biped Climbing Robots

CAMs-SLAM: Cloud-Based Multisubmap VSLAM for Multisource Asynchronous Sensing of Biped Climbing Robots

Design & Fabrication of Vertical Surface Cleaner

Abstract: The Wall Climbing Robot designed in this study to combines the innovative propulsion system of propellers with the traditional locomotion method of wheels to achieve versatile and efficient mobility on both vertical and horizontal surfaces. By integrating propellers and wheels, the robot can seamlessly transition between climbing walls and moving along flat surfaces. The hybrid design not only enhances the robot's mobility but also optimizes its energy efficiency, making it suitable for prolonged missions in various environments. This research explores the synergistic integration of propellers and wheels, showcasing the robot's adaptability in real- world applications such as surveillance, inspection, and maintenance tasks in both indoor and outdoor scenarios. The developed Wall Climbing Robot presents a significant advancement in robotic mobility, offering a promising solution for complex tasks in diverse settings

Design and Validation of Payload: Weight for a Bioinspired Inch Worm Wall Climbing Robot (IWWCR) Using Coppeliasim

In this growing era technology robots are replacing the humans by performing many risky operations enhancing the safety factor of human life. Particularly while considering performing task at high rise building or any high-altitude jobs, the need of wall climbing robot emerges. There are various types of wall climbing robot classified based on its adhesive mechanism and locomotive methods. Out of the various available method, Bioinspired type Robot has its own unique feature specifically when we talk about softbot. Bio inspired robots mimics the locomotion or any other specific feature of living creatures In this paper, an novel approach is introduced for design and development of a Bio inspired Wall Climbing Robot (WCR) using a simulation software named Coppelialsim. An inch worm wall climbing robot is proposed mimicking the locomotion of inch worm is proposed as novel design. The design of the proposed WCR is validated with respect to payload(p): weight (w) value using the static and dynamic analysis both in simulation environment using coppeliasim software and real time experimental testing after fabrication. The flow of electromagnetic flux is further justified with the software called Finite Element Magnetic Method (FEMM) and the structural design of the proposed design is validated with respect to the Computer Aided Analysis (CAA) software. Thus, the proposed IWWCR possess the high p: w value when compared to all other existing bioinspired Wall climbing Robot

Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model

Abstract Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.

Design and Control of a Climbing Robot for Autonomous Vertical Gardening

This paper focuses on the development of a novel climbing robot that is designed for autonomous maintenance of vertical gardens in urban environments. The robot, designed with a unique five-legged structure, is equipped with a range of electrical and mechanical components, enabling it to autonomously navigate and maintain a specially designed vertical garden wall facilitating interactive maintenance and growth monitoring. The motion planning and control of the robot were developed to ensure precise and adaptive movement across the vertical garden wall. Advanced algorithms were employed to manage the complex dynamics of the robot’s movements, optimizing its efficiency and effectiveness in navigating and maintaining the garden structure. The operation of the robot in maintaining the vertical garden was evaluated during a two-week trial where the robot successfully performed nearly 8000 leg movements, with only 0.6% requiring human intervention. This demonstrates a high level of autonomy and reliability. This study concludes that the pentapod robot demonstrates significant potential for automating the maintenance of vertical gardens, offering a promising tool for enhancing urban green spaces.

Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a Bio-inspired Climbing Robot

Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a Bio-inspired Climbing Robot

Optimization of Holding Force for a Climbing Robot Based on a Differential Evolutionary Algorithm

Background: The advancements in robotic technology have completely revolutionized day-to-day life. In industrial applications, the implementation of robotics is quite advantageous as it may help in performing dangerous tasks like climbing high walls, working in a high-temperature environment, high radiation exposure conditions etc. Methods: This paper presents the design and development of a wall-climbing robot for dam wall inspection using an adaptive aerodynamic adhesion technique. The optimization of a robot design is done using a differential evolutionary algorithm. Results: In the proposed model, the principle of Bernoulli adhesion is used for designing the suction pad. The optimization of various variables is done using a differential evolutionary algorithm to improve the efficiency and effectiveness of the wall climbing robot adhesion. Conclusion: The results of the proposed system show that the approach can find an optimal holding force and can be effectively used for applications like dam wall climbing for inspection.

Kinetostatic Modeling of Retractable and Prismatic Spring Body for Continuum Climbing Robots in Discontinuous Terrains

Kinetostatic Modeling of Retractable and Prismatic Spring Body for Continuum Climbing Robots in Discontinuous Terrains

Utilization of a Wall Climbing Robot for Inspection Technology

Utilization of a Wall Climbing Robot for Inspection Technology

An Optimal Adsorption Force Planning Method for Wheeled Climbing Robot on Large Components With Curved Surfaces

An Optimal Adsorption Force Planning Method for Wheeled Climbing Robot on Large Components With Curved Surfaces

A Novel Soft Climbing Robot with Pneumatic Extendible Arms

A Novel Soft Climbing Robot with Pneumatic Extendible Arms

Pole Climbing Robot for Fire Fighting and Metal Detection

Abstract: A new pole climbing robot mechanism is proposed and the structure and features of the mechanism are demonstrated. The robot's processes of pulling the pole, dropping the pole, active work, climbing the pole, fixing the pole and passing obstacles were analyzed. The main idea obtained by the pole climbing robot was explained in detail and the control system of the pole climbing robot was established. The analysis shows that the mechanism has features such as compact structure, easy control and efficient movement.

Design of a Biped Climbing Robot: Simulation, Comparison and Implementation

Design of a Biped Climbing Robot: Simulation, Comparison and Implementation

Research on Bionic Climbing Robot Based on Gait Analysis

In order to replace humans performing hazardous tasks in complex high-altitude environments, we have designed a two-armed modular bionic robot with clawing, climbing and mobility capabilities for high-altitude tasks in agriculture, forestry and construction. In this paper, a five-degree-of-freedom climbing modular robot with the ability to maneuver between poles in space is presented and analyzed. Three types of climbing gaits is designed and compared in the ADAMS simulation environment based on the torques required by the main joints and the energy consumed by the robot to climb the poles in different directions. The simulation results are the basis for planning the gait of the robot during climbing.

Design of Power Tower Climbing Robot

The maintenance of high-voltage transmission lines mainly relies on manual work. When workers climb power towers, tower climbing robots are needed to provide safety ropes. In this paper, a power tower climbing robot with a new structure is designed, and its three-dimensional model is created and simulated. Finally, combined with the motor selection in each robot component, the tower climbing robot prototype was made and tested. The designed climbing robot can complete the locking and crawl on the power tower.

Research on Climbing Robot for Transmission Tower Based on Foot-End Force Balancing Algorithm

This paper aims to introduce robot technology to carry out the safety inspection of transmission towers in long-distance power transmission, so as to improve the safety and efficiency of inspection. However, aiming at the problem that the existing climbing robots are mainly used for large load applications, which leads to the large size and lack of flexibility of the robot, we propose an innovative solution. Firstly, a lightweight quadruped climbing robot is designed to improve portability and operational flexibility. Then, a one-dimensional force sensor is added at the end of each leg of the robot, and a special swing phase trajectory is designed. The robot can judge whether the electromagnetic adsorption is effective and avoid potential safety hazards. Finally, based on the principle of virtual model control (VMC), a foot-end force balancing algorithm is proposed to achieve uniform distribution and continuous change in force, and improve safety and load capacity. The experiments show that the scheme has a stable climbing ability in the environments of angle steel, vertical ferromagnetic plane and transmission tower.

Wireless Millimeter-Size Soft Climbing Robots with Omnidirectional Steerability on Tissue Surfaces.

Wirelessly actuated miniature soft robots actuated by magnetic fields that can overcome gravity by climbing soft and wet tissues are promising for accessing challenging enclosed and confined spaces with minimal invasion for targeted medical operation. However, existing designs lack the directional steerability to traverse complex terrains and perform agile medical operations. Here we propose a rod-shaped millimeter-size climbing robot that can be omnidirectionally steered with a steering angle up to 360 degrees during climbing beyond existing soft miniature robots. The design innovation includes the rod-shaped robot body, its special magnetization profile, and the spherical robot footpads, allowing directional bending of the body under external magnetic fields and out-of-plane motion of the body for delivery of medical patches. With further integrated bio-adhesives and microstructures on the footpads, we experimentally demonstrated inverted climbing of the robot on porcine gastrointestinal (GI) tract tissues and deployment of a medical patch for targeted drug delivery.

Design and Study of an AI-Powered Autonomous Stair Climbing Robot

Mobile robots are frequently utilized in the surveillance sector for both industrial and military purposes. The ability to navigate stairs is crucial for carrying out surveillance jobs like urban search and rescue operations. The research paper shows that the design methodology for a six-wheeled rover robot that can adapt to various stairs and maintain its stability based on the robot's specifications, kinematics restrictions, the maximum height, and the lowest step length needed to climb up and down the stairs is proposed. Based on a Raspberry Pi, camera, and LIDAR distance sensor, the suggested robot has the capacity to measure the stair height before starting to climb. A Convolutional Neural Networks (CNN) deep learning model is developed for the purpose of stair recognition. Additionally, stair alignment was estimated using statistical filtering on pictures and LIDAR distance reading. The robot can then decide whether it can climb the stairs or not based on its kinematics limitations and the height of the stairs as measured by our system. Result shows that our stair detection algorithm achieved an accuracy of 99.46% and a mean average precision of 99.64%. The proposed AI-Powered Robot-based stair recognition system, according to final results, effectively climbed stairs with a height range between 13 and 23 cm.