Simulation and locomotion control for the Alicia climbing robot

Domenico Longo*, Giovanni Muscato, Salvatore Sessa

*この研究の対応する著者

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル22nd International Symposium on Automation and Robotics in Construction, ISARC 2005
出版ステータスPublished - 2005
外部発表はい
イベント22nd International Symposium on Automation and Robotics in Construction, ISARC 2005 - Ferrara
継続期間: 2005 9 112005 9 14

Other

Other22nd International Symposium on Automation and Robotics in Construction, ISARC 2005
CityFerrara
Period05/9/1105/9/14

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 建築および建設

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