Abstract
The climbing robot Alicia3, is mainly made of three identical modules linked together by two arms actuated by two air pistons. Each module consists of a cup, an aspirator, two wheels that are actuated by two DC motors with encoders and gearboxes, and four passive wheels to guarantee plain contact of the system on the wall. The cups can slide over a wall by mean of a special sealing 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. This paper focuses on description of Alicia3 simulator, implemented in Simulink®, which allows testing locomotion and finding an adequate control parameters setting. A viewer, developed in Delphi™ 7 using Mex-function to integrate it in Simulink®, is used in order to visualize Alicia3 in 3D and the sequence of operations executed to follow the reference trajectory.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 |
| Pages | 843-850 |
| Number of pages | 8 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 - London Duration: 2005 Sep 13 → 2005 Sep 15 |
Other
| Other | 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 |
|---|---|
| City | London |
| Period | 05/9/13 → 05/9/15 |
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Keywords
- Climbing robot
- locomotion control
- maintenance and inspection
- robot simulator
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Software
Cite this
Simulator for locomotion control of the Alicia3 climbing Robot. / Longo, D.; Muscato, G.; Sessa, S.
Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005. 2006. p. 843-850.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Simulator for locomotion control of the Alicia3 climbing Robot
AU - Longo, D.
AU - Muscato, G.
AU - Sessa, S.
PY - 2006
Y1 - 2006
N2 - The climbing robot Alicia3, is mainly made of three identical modules linked together by two arms actuated by two air pistons. Each module consists of a cup, an aspirator, two wheels that are actuated by two DC motors with encoders and gearboxes, and four passive wheels to guarantee plain contact of the system on the wall. The cups can slide over a wall by mean of a special sealing 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. This paper focuses on description of Alicia3 simulator, implemented in Simulink®, which allows testing locomotion and finding an adequate control parameters setting. A viewer, developed in Delphi™ 7 using Mex-function to integrate it in Simulink®, is used in order to visualize Alicia3 in 3D and the sequence of operations executed to follow the reference trajectory.
AB - The climbing robot Alicia3, is mainly made of three identical modules linked together by two arms actuated by two air pistons. Each module consists of a cup, an aspirator, two wheels that are actuated by two DC motors with encoders and gearboxes, and four passive wheels to guarantee plain contact of the system on the wall. The cups can slide over a wall by mean of a special sealing 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. This paper focuses on description of Alicia3 simulator, implemented in Simulink®, which allows testing locomotion and finding an adequate control parameters setting. A viewer, developed in Delphi™ 7 using Mex-function to integrate it in Simulink®, is used in order to visualize Alicia3 in 3D and the sequence of operations executed to follow the reference trajectory.
KW - Climbing robot
KW - locomotion control
KW - maintenance and inspection
KW - robot simulator
UR - http://www.scopus.com/inward/record.url?scp=84881169564&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881169564&partnerID=8YFLogxK
U2 - 10.1007/3-540-26415-9-101
DO - 10.1007/3-540-26415-9-101
M3 - Conference contribution
SN - 3540264132
SN - 9783540264132
SP - 843
EP - 850
BT - Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
ER -