Climbing Robot Case Study

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There are three primary components of the control problem for a climbing robot: maintenance of equilibrium, endpoint slip control, and endpoint force control. These three components are tightly related. In order to maintain balance, both the Figure V.I Gyro Intelligent location of the center of mass of the robot and the forces from contacts with natural features must be controlled. Control of slip at these contacts is directly related to the direction and magnitude of the contact forces. However, these techniques could be extended in a number of different ways to achieve better performance. For control and grasping, the robot must be capable of sensing the orientation of its body with respect to the gravity vector, the location of its …show more content…

However, for the task of climbing a grasp need not achieve force-closure to be a useful grasp. For example, a robot may find a shelf-like hold very effective for pulling itself up, even though this grasp [3] would be completely unable to resist forces exerted in other directions. For this reason, the techniques for selecting, characterizing, and optimizing grasps must be expanded significantly to apply to climbing robots. [11] Characterization involves examining the direction and magnitudes of forces and torques (also called wrenches) that can be exerted by the grasp. For example, for one-finger grasps on point holds, an adequate representation of this information is a friction cone. …show more content…

Depending on the direction that a climber wishes to go, different grasps may be of higher quality. Furthermore, grasp quality generally includes a concept of security or stability. Again, depending on the direction of applied forces, the security of a grasp may change. Another research was made about the wall climbing robot using different technique. The technique is suction pads serve to hold and maintain the robot at any surface by applying high to low pressure mechanism. It is usually an Electro-mechanical machine that is guided by a computer program or electronic circuitry. Robots can be autonomous or semi-autonomous and range from humanoids to industrial robots. The devices used are Wall climbing robot, Suction force, Suction pumps, Suction cups, and Tracked wheel. The adhesion mechanism is used to stick the device at anti gravity surface. According to the adhesion method, these robots are generally classified into four groups: magnetic, vacuum or suction cups, gripping to the surface and

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