Abstract
Safe navigation a great challenge for wall-climbing robots which adhere to the surface via negative pressure. Especially wheeled systems which are able to drive on vertical concrete structures like bridge pylons or dams need special measures to enhance safety. This paper presents the advanced motion control system of the climbing robot cromsci which uses a negative pressure adhesion system in combination with driven wheels for propulsion. The main demands to this motion control system related to robot safety are to enhance the transferable force in driving direction, reduce the wear of wheels and to minimize the chance of robot slip. This can be achieved via special traction control components and additional elements as presented in this paper. Experimental results prove the operability of the described measures.
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© 2012 Springer-Verlag Berlin Heidelberg
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Schmidt, D., Berns, K. (2012). Advanced Motion Control for Safe Navigation of an Omnidirectional Wall-Climbing Robot. In: Levi, P., Zweigle, O., Häußermann, K., Eckstein, B. (eds) Autonomous Mobile Systems 2012. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32217-4_15
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DOI: https://doi.org/10.1007/978-3-642-32217-4_15
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