Simulator for locomotion control of the Alicia3 climbing Robot

D. Longo, G. Muscato, S. Sessa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 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 languageEnglish
Title of host publicationProceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
Pages843-850
Number of pages8
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 - London
Duration: 2005 Sep 132005 Sep 15

Other

Other8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
CityLondon
Period05/9/1305/9/15

Fingerprint

Wheels
Simulators
Robots
DC motors
Pistons
Trajectories
Vacuum
Friction
Testing
Air

Keywords

  • Climbing robot
  • locomotion control
  • maintenance and inspection
  • robot simulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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

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 proceedingConference contribution

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