Abstract
In this work simulation and implementation of the locomotion control of a single sliding suction cup robot, named Alicia3, is described. The main purpose of this kind of system is to explore vertical walls to search for potential damages or problems on oil tanks or dams. By using this system as carrier, it will be possible to carry out a number of NDI/NDT on the wall. The system is mainly made of three modules linked by two arms actuated by two air pistons. The cups can slide over a wall by mean of a special sealing that allows maintaining the vacuum inside the cup and at the same time creates the right amount of friction according to the system weight and the target wall kind. A robot simulator implemented in Simulink® allows testing various locomotion strategies and will be described.
| Original language | English |
|---|---|
| Title of host publication | 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 |
| Publication status | Published - 2005 |
| Externally published | Yes |
| Event | 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 - Ferrara Duration: 2005 Sep 11 → 2005 Sep 14 |
Other
| Other | 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 |
|---|---|
| City | Ferrara |
| Period | 05/9/11 → 05/9/14 |
Keywords
- Climbing robot
- Locomotion control
- Maintenance and inspection
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Building and Construction