Authors:
Atabak Nezhadfard
;
Steffen Schütz
;
Daniel Schmidt
and
Karsten Berns
Affiliation:
University of Kaiserslautern, Germany
Keyword(s):
CREA, Climbing Robots, Nonlinear Control, Chamber Pressure Control, Sealing, Reservoir Pressure, Suction System.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Mobile Robots and Autonomous Systems
;
Nonlinear Signals and Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Identification
Abstract:
CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsible to produce adhesion force. A controller is developed to independently control each chamber while satisfying certain criteria on the safety of the robot. It is also designed to reach minimum friction between active inflatable seals and wall. In conclusion, the controller is able to successfully meet the conditions of stability, minimum friction and safety.