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International Conference on Intelligent Robotics and Applications

ICIRA 2019: Intelligent Robotics and Applications pp 60–71Cite as

The Graspable Algorithm for a Wall-Climbing Robot with Claws

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

Abstract

Wall-climbing robots have been widely used in the inspection of smooth walls. However, no satisfactory adhesion methods have been developed for robots that will allow them to climb rough walls. This paper proposes a suitable adhesion method that employs grappling-hook-like claws arranged in a cross shape. First, we address the implementation mechanism required. Then, a method of extracting the parameters characterizing a rough wall is devised, and 3D profiles of rough walls simulated. A method of triangulation is proposed to judge which regions of a 3D wall can be gripped, and we subsequently present a grasping discrimination algorithm for the interaction between the miniature claws and 3D wall profile. Finally, the simulation proves the validity of the discriminant algorithm for gripping 3D walls. It provides a more reliable method of adhesion for robots on rough walls.

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Acknowledgments

This research is supported by National Natural Science Foundation of China (51775284), Primary Research & Development Plan of Jiangsu Province (BE2018734), Joint Research Fund for Overseas Chinese, Hong Kong and Macao Young Scholars (61728302), and Postgraduate Research & Practice Innovation Program of Jiangsu Province (SJCX18_0299).

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Authors and Affiliations

  1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China

    Fanchang Meng, Yiquan Guo, Fengyu Xu, Guoping Jiang & Bei Wang

  2. Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), Nanjing, China

    Fanchang Meng, Yiquan Guo, Fengyu Xu, Guoping Jiang & Bei Wang

Authors
  1. Fanchang Meng
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  2. Yiquan Guo
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  3. Fengyu Xu
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  4. Guoping Jiang
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  5. Bei Wang
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Corresponding author

Correspondence to Fengyu Xu .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Meng, F., Guo, Y., Xu, F., Jiang, G., Wang, B. (2019). The Graspable Algorithm for a Wall-Climbing Robot with Claws. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_6

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  • DOI: https://doi.org/10.1007/978-3-030-27532-7_6

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27531-0

  • Online ISBN: 978-3-030-27532-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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