NDLI: A climbing robot based on Hot Melt Adhesion

Content Provider	IEEE Xplore Digital Library
Author	Osswald, M. Iida, F.
Copyright Year	2011
Description	Author affiliation: Bio-Inspired Robotics Laboratory in the Department of Mechanical and Process Engineering, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland (Osswald, M.; Iida, F.)
Abstract	Robust climbing in unstructured environment has been one of the long-standing challenges in robotics research. Among others, the control of large adhesion forces is still an important problem that significantly restricts the locomotion performance of climbing robots. The main contribution of this paper is to propose a novel approach to autonomous robot climbing which makes use of Hot Melt Adhesion (HMA). The HMA material is known as a very economical solution to achieve large adhesion forces, and the forces can be varied by controlling its material temperature. For locomotion in both inclined and vertical walls, this paper investigates the basic characteristics of HMA material, and proposes a design and control of climbing robot that uses the HMA material for attaching and detaching its body to the environment. The robot is equipped with servomotors and thermal control units to actively vary the temperature of the material, and the coordination of these components enables the robot to walk against the gravitational forces even with a relatively large body weight. A real-world platform is used to demonstrate locomotion on a vertical wall, and the experimental result explains feasibility and overall performances of this approach.
Starting Page	5107
Ending Page	5112
File Size	1018018
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094741
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Materials Foot Heating Bonding Cooling Robot kinematics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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