TY - GEN
T1 - Task space kinematic control of a gecko-inspired climbing robot with active suction cups
AU - Garcia-Cardenas, Facundo
AU - Escandon, Elmer
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - As the cost and demand for civil infrastructure operations rise, it is necessary to automatize some processes, such as detecting fissures in cement columns or inspecting pipelines, in order to lower costs and ensure the safety of workers. In this context, climbing robots have been proposed to perform as tools for inspection, maintenance and cleaning operations. This work presents the design and implementation of a robot inspired by geckos, which attaches to smooth surfaces by using suction cups with a hold/release mechanism. The control process of the robot involves an inverse differential kinematics solver based on a weighted quadratic optimization. This approach allows the robot to obtain full-body motion control in order to climb adequately. Simulation and testing were performed to evaluate the performance of the control algorithm, adjust the movements generated, and ensure the viability of the suction cups mechanism used in the robot. The results obtained for the computational implementations are shown and discussed in this work.
AB - As the cost and demand for civil infrastructure operations rise, it is necessary to automatize some processes, such as detecting fissures in cement columns or inspecting pipelines, in order to lower costs and ensure the safety of workers. In this context, climbing robots have been proposed to perform as tools for inspection, maintenance and cleaning operations. This work presents the design and implementation of a robot inspired by geckos, which attaches to smooth surfaces by using suction cups with a hold/release mechanism. The control process of the robot involves an inverse differential kinematics solver based on a weighted quadratic optimization. This approach allows the robot to obtain full-body motion control in order to climb adequately. Simulation and testing were performed to evaluate the performance of the control algorithm, adjust the movements generated, and ensure the viability of the suction cups mechanism used in the robot. The results obtained for the computational implementations are shown and discussed in this work.
KW - Differential kinematics
KW - Quadratic programming
KW - Redundancy
KW - Suction cup
KW - Task-space
UR - http://www.scopus.com/inward/record.url?scp=85073511372&partnerID=8YFLogxK
U2 - 10.1109/INTERCON.2019.8853601
DO - 10.1109/INTERCON.2019.8853601
M3 - Conference contribution
AN - SCOPUS:85073511372
T3 - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
BT - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Y2 - 12 August 2019 through 14 August 2019
ER -