3D Realtime Simulation Framework for a Wall-climbing Robot using Negative-pressure Adhesion

Daniel Schmidt, Jens Wettach, Karsten Berns

Abstract

Simulation frameworks are wide-spread in the range of robotics to test algorithms and analyze system behavior beforehand – which tremendously reduces effort and time needed for conducting experiments on the real machines. This paper addresses a component based framework for simulating a wall-climbing robot that uses negative pressure adhesion in combination with an omnidirectional drive system. Key aspect is the adhesion system which interacts with the environmental features such as surface characteristics (e. g. roughness) or defects. An elaborate thermodynamic model provides the basis for a realistic simulation of the airflow between the virtual environment and the vacuum chambers of the robot. These features facilitate the validation of closed-loop controllers and control algorithms offline and in realtime.

References

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Paper Citation


in Harvard Style

Schmidt D., Wettach J. and Berns K. (2013). 3D Realtime Simulation Framework for a Wall-climbing Robot using Negative-pressure Adhesion . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 184-191. DOI: 10.5220/0004444401840191


in Bibtex Style

@conference{icinco13,
author={Daniel Schmidt and Jens Wettach and Karsten Berns},
title={3D Realtime Simulation Framework for a Wall-climbing Robot using Negative-pressure Adhesion},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={184-191},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004444401840191},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - 3D Realtime Simulation Framework for a Wall-climbing Robot using Negative-pressure Adhesion
SN - 978-989-8565-71-6
AU - Schmidt D.
AU - Wettach J.
AU - Berns K.
PY - 2013
SP - 184
EP - 191
DO - 10.5220/0004444401840191