NDLI: Under-actuated tank-like climbing robot with various transitioning capabilities

Content Provider	IEEE Xplore Digital Library
Author	TaeWon Seo Sitti, M.
Copyright Year	2011
Description	Author affiliation: Creative Robot Design Laboratory, Yeungnam University, Gyeongsan, 712-749, Republic of Korea (TaeWon Seo) \|\| Nanorobotics Laboratory, Carnegie Mellon University, Pittsburgh, PA 15213, USA (Sitti, M.)
Abstract	This paper presents a modular climbing robot connected by two passive compliant joints and featuring an active tail. The objective of this robot is to enable various internal and external transitions which are very challenging tasks for previously developed climbing robots. Realizing the transitions by an using under-actuated system without complex control is another contribution of this research. The robot is driven using a tread-wheel mechanism made of a flat sticky polymer to realize fast and robust climbing. Directional compliant joints are used between the two modules to increase the preload on each front wheel. An active tail is used at the end of the second module to compensate for the negative effects of the compliant joint forces. This combination of directional compliant joints and active tail also allows the robot to perform various internal and external transitions passively. The induced positive preload on the front wheels are analyzed and verified. Three types of internal transition and three types of external transition including a thin-wall transition are achieved by the robot prototype. The concept of the directional compliance with the active tail can be adopted to other climbing robots to enhance robustness and mobility.
Starting Page	777
Ending Page	782
File Size	500106
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979533
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Joints Wheels Surface roughness Rough surfaces Climbing robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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