1. TRIPILLAR: a miniature magnetic caterpillar climbing robot with plane transition ability
- Author
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Francesco Mondada, Roland Moser, Olivier truong-dat Nguyen, Patrick Schoeneich, and Frédéric Rochat
- Subjects
Engineering ,business.industry ,General Mathematics ,Mechanical engineering ,Robotics ,Mobile robot ,Ceiling (cloud) ,Computer Science Applications ,Robot control ,Computer Science::Robotics ,Ferromagnetism ,Control and Systems Engineering ,Magnet ,Robot ,Climb ,Artificial intelligence ,business ,Software - Abstract
SUMMARYWe present a miniature magnetic climbing robot with dimensions 96 × 46 × 64 mm3. With two degrees of freedom it is able to climb ferromagnetic surfaces and to make inner plane to plane transitions whatever their inclination is. This robot, named TRIPILLAR, combines triangular-shaped magnetic caterpillars and frame magnets. This particular configuration allows, for example, to move from ground to wall and ceiling and back. This achievement opens new avenues to use mobile robotics for industrial inspection with stringent size restrictions, such as the ones encountered in power plants.
- Published
- 2017