Simulator for locomotion control of the Alicia3 climbing Robot

D. Longo; G. Muscato; S. Sessa

doi:10.1007/3-540-26415-9-101

Simulator for locomotion control of the Alicia³ climbing Robot

D. Longo, G. Muscato, S. Sessa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

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	https://doi.org/10.1007/3-540-26415-9-101
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

Keywords

Climbing robot
locomotion control
maintenance and inspection
robot simulator

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Software

Access to Document

10.1007/3-540-26415-9-101

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Cite this

Longo, D., Muscato, G., & Sessa, S. (2006). Simulator for locomotion control of the Alicia³ climbing Robot. In Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 (pp. 843-850) https://doi.org/10.1007/3-540-26415-9-101

Longo, D, Muscato, G & Sessa, S 2006, Simulator for locomotion control of the Alicia³ climbing Robot. in Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005. pp. 843-850, 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005, London, 05/9/13. https://doi.org/10.1007/3-540-26415-9-101

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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{\textregistered}, which allows testing locomotion and finding an adequate control parameters setting. A viewer, developed in Delphi{\texttrademark} 7 using Mex-function to integrate it in Simulink{\textregistered}, is used in order to visualize Alicia3 in 3D and the sequence of operations executed to follow the reference trajectory.",

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