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Authors: Daniel Schmidt and Karsten Berns

Affiliation: University of Kaiserslautern, Germany

Keyword(s): Genetic Algorithm, Behavior-based, Risk Prediction, Climbing Robot.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Evolutionary Computation and Control ; Evolutionary Computing ; Genetic Algorithms ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation ; Soft Computing

Abstract: Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and especially the adhesion is affected by different surfaces and environmental features. This paper will introduce the climbing robot CROMSCI using negative pressure adhesion via multiple chambers, adaptive inflatable sealings and an omnidirectional drive system. It presents the used behavior-based control network which allows the balancing of adhesion force, but fails in extreme situations. Therefore, a risk prediction has been developed which evaluates behavioral meta-data and allows an estimation of current hazards caused by the environment. This prediction is used to perform evasive actions to prevent the robot from falling down.

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Paper citation in several formats:
Schmidt, D. and Berns, K. (2012). Risk Prediction of a Behavior-based Adhesion Control Network for Online Safety Analysis of Wall-climbing Robots. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 118-123. DOI: 10.5220/0003974701180123

@conference{icinco12,
author={Daniel Schmidt. and Karsten Berns.},
title={Risk Prediction of a Behavior-based Adhesion Control Network for Online Safety Analysis of Wall-climbing Robots},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={118-123},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003974701180123},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Risk Prediction of a Behavior-based Adhesion Control Network for Online Safety Analysis of Wall-climbing Robots
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Schmidt, D.
AU - Berns, K.
PY - 2012
SP - 118
EP - 123
DO - 10.5220/0003974701180123
PB - SciTePress