Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA

Atabak Nezhadfard, Steffen Schütz, Daniel Schmidt, Karsten Berns

2014

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.

References

  1. Schmidt, D., Berns, K., 2013. Climbing robots for maintenance and inspections of vertical structures-A survey of design aspects and technologies. In Robotics and Autonomous Systems, volume 61, issue 12, Pages 1288-1305.
  2. Longo, D., Muscato, G., 2006. The Alicia3 climbing robot: a three-module robot for automatic wall inspection. In Robotics & Automation Magazine, volume 13, issue 1, pages 42-50.
  3. Morris, W., Xiao, J., 2008. City-Climber: Development of a Novel Wall-climbing Robot, In Journal of Student research, volume 1.
  4. Wettach, J., Hillenbrand, C., Berns, K., 2005. Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot, In IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain.
  5. Schmidt, D., 2013. Safe Navigation of a Wall-Climbing Robot-Risk Assessment and Control Methods. The doctrol thesis, University of Kaiserslautern, Germany, (verlag Dr. Hut, Munich Germany 2013).
  6. Kopietz, K., Schmidt, D., Schütz, S., Berns, K., 2014. Friction Optimization Adhesion Control of a WheelDriven Wall-Climbing Robot. In Proceedings of International Conference of Climbing and Walking Robots (CLAWAR).
  7. Khalil, H., 1996. Nonlinear Systems, The book, Prentice Hall, Englewood Cliffs, NJ, 2nd edition.
Download


Paper Citation


in Harvard Style

Nezhadfard A., Schütz S., Schmidt D. and Berns K. (2014). Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 82-89. DOI: 10.5220/0005047900820089


in Bibtex Style

@conference{icinco14,
author={Atabak Nezhadfard and Steffen Schütz and Daniel Schmidt and Karsten Berns},
title={Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={82-89},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005047900820089},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA
SN - 978-989-758-040-6
AU - Nezhadfard A.
AU - Schütz S.
AU - Schmidt D.
AU - Berns K.
PY - 2014
SP - 82
EP - 89
DO - 10.5220/0005047900820089