Advanced Motion Control for Safe Navigation of an Omnidirectional Wall-Climbing Robot

Conference paper
Part of the Informatik aktuell book series (INFORMAT)

Abstract

Safe navigation a great challenge for wall-climbing robots which adhere to the surface via negative pressure. Especially wheeled systems which are able to drive on vertical concrete structures like bridge pylons or dams need special measures to enhance safety. This paper presents the advanced motion control system of the climbing robot cromsci which uses a negative pressure adhesion system in combination with driven wheels for propulsion. The main demands to this motion control system related to robot safety are to enhance the transferable force in driving direction, reduce the wear of wheels and to minimize the chance of robot slip. This can be achieved via special traction control components and additional elements as presented in this paper. Experimental results prove the operability of the described measures.

Keywords

Traction Control Wheel Slip Navigation Safety Wheel Rubber Traction Control System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Robotics Research Lab, Department of Computer Sciences University of KaiserslauternKaiserslauternGermany

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