Simulator for locomotion control of the Alicia3 climbing Robot

D. Longo, G. Muscato, S. Sessa

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
ページ843-850
ページ数8
DOI
出版物ステータスPublished - 2006
外部発表Yes
イベント8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 - London
継続期間: 2005 9 132005 9 15

Other

Other8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005
London
期間05/9/1305/9/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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  • これを引用

    Longo, D., Muscato, G., & Sessa, S. (2006). 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 (pp. 843-850) https://doi.org/10.1007/3-540-26415-9-101