Development of a Torque Distribution Algorithm for Improving Stability and Mobility of the Wall-climbing Robot Platform (ROPE RIDE) Equipped with Triangular Track Wheels |
Cho, Sunme
(School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Seo, Kunchan (School of Mechanical and Aerospace Engineering, Seoul National Univ.) Kim, Taegyun (School of Mechanical and Aerospace Engineering, Seoul National Univ.) Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.) Kim, Hwa Soo (Department of Mechanical System Engineering, Kyonngi Univ.) |
1 | Kim, S. B., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V., and Cutkosky, M. R., "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot," IEEE international conference on Robotics and Automation, pp. 1268-1273, 2007. |
2 | Prahlad, H., Pelrine, R., Stanford, S., Marlow, J., and Kornbluh, R., "Electroadhesive robots-wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology," IEEE international conference on Robotics and Automation, pp. 3028-3033, 2008. |
3 | Spenko, M. J., Haynes, G. C., Saunders, J. A., Cutkosky, M. R., Rizzi, A. A., Full, R. J., and Koditschek, D. E., "Biologically inspired climbing with a hexapedal robot," Journal of field robotics, Vol. 25, No. 4-5, pp. 223-242, 2008. DOI ScienceOn |
4 | Illingworth, L. and Reinfeld, D., "Vortex attractor," US Patent, No. 6595753 B1, 2003. |
5 | Akinfiev, T., Armada, M., and Nabulsi, S., "Climbing cleaning robot for vertical surfaces," Industrial Robot, Vol. 36, No. 4, pp. 352-357, 2009. DOI ScienceOn |
6 | Elkmann, N., Kunst, D., Krueger, T., Lucke, M., Bohme, T., Felsch, T., and Sturze. T., "SIRIUSc-Facade cleaning robot for a high-rise building in Munich, Germany," Proc. of the 7th international conference on climbing and walking robots, pp. 1033-1040, 2005. |
7 | Zhang, H., Zhang, J., Zong, G., Wang, W., and Liu, R., "Sky cleaner 3: a real pneumatic climbing robot for glass-wall cleaning," IEEE Robotics and Automation Magazine, Vol. 13, No. 1, pp. 32-41, 2006. DOI ScienceOn |
8 | Lee, G., Seo, K., Kim, H., Kim, S., Kim, H., and Kim, J. W., "Design of a transformable track mechanism for wall climbing robots," J. Korean Soc. Precis. Eng., Vol. 29, No. 2, pp. 178-184, 2012. 과학기술학회마을 DOI ScienceOn |
9 | Kim, H., Seo, K., Kim, J., and Kim, H., "Design of tracked wheel mechanism for wall climbing robot," Proc. of KSPE Autumn conference, pp. 215-216, 2010. 과학기술학회마을 |
10 | Cho, S., Seo, K., Kim, T., Kim, J., and Kim, H. S., "Kinematic analysis of the platform of a wall climbing robot equipped with triangular track wheels," Proc. of KSPE Spring conference, pp. 235-236, 2012. |
11 | Seo, K., "Development of a wall climbing robot platform (ROPE RIDE) with a rope ascender," Ph.D Thesis, School of Mechanical and Aerospace engineering, Seoul National University, 2013. |