Climbing Robots’ Mobility for Inspection and Maintenance of 3D Complex Environments
Autonomous Robots, 2005
For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force h... more For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force has an important influence with respect the robots changes during its motion. This type of climbing robots is self-supported in the complex 3D structures (bridges, skeleton of the buildings, etc.) which require periodic, manually performed inspections and maintenance. The use of non-conventional climbing robots for this type of operation is highly appropriate. Their locomotion system commonly comprises arms/legs that permit the robot’s 3D mobility (gait). These mechanisms also enable the robot to support itself and guarantee its stability. This paper presents the main features of non-conventional climbing robots’ mobility on complex 3D environments: power supply, number of DOFs, lightweight structure, gait, speed, secure grasp, etc. It also covers the general theory underlying the design of climbing robots, their kinematics, with its specific, unconventional mobility. The paper not only describes the climbing robot mobility theory but also provides several examples taken from the ROMA and MATS robots families. The developed robots have high degree of autonomy with totally on-board control system. These autonomous robots demonstrate in the course of real experimentation that the criteria for design, control strategy and path planning are accurate. Finally, the paper examines trends in climbing robot technology.
ASIBOT is an assistive climbing robot, capable of aiding in daily tasks from fixed docking statio... more ASIBOT is an assistive climbing robot, capable of aiding in daily tasks from fixed docking stations in the environment. A taskoriented design process was applied to improve the robot kinematic structure, based on the Grid Method. Twelve different robot designs were optimized for typical kitchen scenarios, followed by a quantitative comparison.
Human care and service demands need an innovative robotic solution to make easier the everyday of... more Human care and service demands need an innovative robotic solution to make easier the everyday of elderly and disable people in home and workplace environments. The main objective of this project is to develop a new concept of climbing robot for this type of service applications. The robot is a 5 DOF self-containing manipulator, that includes on-board all the control system. The main advantage of the robot is its light weight, about 11 kg for a 1.3m reach. The robot is totally autonomous and needs only power supply to be operated. The robot is a symmetrical arm able to move (or to climb) between different points (Docking Stations) of the rooms and, if it is necessary, "jump" to (or from) the environment to the wheelchair. In this way the MATS robot should become a home companion and assistance for numerous persons. This paper presents the live experimentation of the robot. Different tasks has been tested such as: eating, shaving, making-up, etc.
Climbing Robots’ Mobility for Inspection and Maintenance of 3D Complex Environments
Autonomous Robots, 2005
For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force h... more For complex climbing robots, which work in difficult 3D outdoor environments, the gravity force has an important influence with respect the robots changes during its motion. This type of climbing robots is self-supported in the complex 3D structures (bridges, skeleton of the buildings, etc.) which require periodic, manually performed inspections and maintenance. The use of non-conventional climbing robots for this type of operation is highly appropriate. Their locomotion system commonly comprises arms/legs that permit the robot’s 3D mobility (gait). These mechanisms also enable the robot to support itself and guarantee its stability. This paper presents the main features of non-conventional climbing robots’ mobility on complex 3D environments: power supply, number of DOFs, lightweight structure, gait, speed, secure grasp, etc. It also covers the general theory underlying the design of climbing robots, their kinematics, with its specific, unconventional mobility. The paper not only describes the climbing robot mobility theory but also provides several examples taken from the ROMA and MATS robots families. The developed robots have high degree of autonomy with totally on-board control system. These autonomous robots demonstrate in the course of real experimentation that the criteria for design, control strategy and path planning are accurate. Finally, the paper examines trends in climbing robot technology.
ASIBOT is an assistive climbing robot, capable of aiding in daily tasks from fixed docking statio... more ASIBOT is an assistive climbing robot, capable of aiding in daily tasks from fixed docking stations in the environment. A taskoriented design process was applied to improve the robot kinematic structure, based on the Grid Method. Twelve different robot designs were optimized for typical kitchen scenarios, followed by a quantitative comparison.
Human care and service demands need an innovative robotic solution to make easier the everyday of... more Human care and service demands need an innovative robotic solution to make easier the everyday of elderly and disable people in home and workplace environments. The main objective of this project is to develop a new concept of climbing robot for this type of service applications. The robot is a 5 DOF self-containing manipulator, that includes on-board all the control system. The main advantage of the robot is its light weight, about 11 kg for a 1.3m reach. The robot is totally autonomous and needs only power supply to be operated. The robot is a symmetrical arm able to move (or to climb) between different points (Docking Stations) of the rooms and, if it is necessary, "jump" to (or from) the environment to the wheelchair. In this way the MATS robot should become a home companion and assistance for numerous persons. This paper presents the live experimentation of the robot. Different tasks has been tested such as: eating, shaving, making-up, etc.
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Papers by ALBERTO JARDON