SIEN: Telescopic-Arm Climbing-Support Robot

Tomoyuki Yamaguchi; Yoshiaki Sorioka; Sunhong Park; Shuji Hashimoto

doi:10.20965/jrm.2009.p0621

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JRM Vol.21 No.5 pp. 621-627

doi: 10.20965/jrm.2009.p0621

(2009)

Paper:

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SIEN: Telescopic-Arm Climbing-Support Robot

Tomoyuki Yamaguchi, Yoshiaki Sorioka, Sunhong Park, and Shuji Hashimoto

Department of Applied Physics, Waseda University

Received:

February 1, 2009

Accepted:

June 1, 2009

Published:

October 20, 2009

Keywords:

climbing robot, climbing-support robot, telescopic-arm, feedback control

Abstract

SIEN represents a novel safety measure concept in making climbing service robots feasible, e.g., in keeping them from falling off a wall due to concavity, convexity, or insufficient adhesion. The wall climbing-support robot SIEN we developed uses a telescopic arm to support itself. The arm has a joint with sensors to detect robot speed and direction of movement. SIEN follows and supports the climbing robot based on feedback using detected force. SIEN enabled the robot to climb walls reliably and safely, as demonstrated in experimental results.

Cite this article as:

T. Yamaguchi, Y. Sorioka, S. Park, and S. Hashimoto, “SIEN: Telescopic-Arm Climbing-Support Robot,” J. Robot. Mechatron., Vol.21 No.5, pp. 621-627, 2009.

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References

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[2] S. Hirosea and H. Tsutsumitake, “Disk Rover: A wall-climbing robot using permanent magnet disks,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2074-2079, 1992.
[3] W. Shen, J. Gu, and Y. Shen, “Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks,” Proc. of IEEE Int. Conf. on Mechatronics and Automation, pp. 2072-2077, 2005.
[4] L. Illingworth and D. Reinfeld, “Vortex attractor for planar and non-planar surfaces,” US Patents #6619922, 2003.
[5] M. Elliott, W. Morris, A. Calle, and J. Xiao, “City-Climbers at work,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2764-2765, 2007.
[6] A. K. Geim, S. V. Dubonos, I. V. Grigorieva, K. S. Novoselov, A. A. Zhukov, and S. YU. Shapoval, “Microfabricated adhesive mimicking gecko foot-hair,” Nature Materials, Vol.2, pp. 461-463, 2003.
[7] M. P. Murphy and M. Sitti, “Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives,” Proc. of IEEE/ASME Trans. on Mechatronics, Vol.12, No.3, pp. 330-338, 2007.
[8] S. Kim, A. T. Asbeck, M. R. Cutkosky, and W. R. Provancher, “SpinybotII: Climbing hard walls with compliant microspines,” Proc. of IEEE Int. Conf. on Advanced and Robotics, pp. 601-606, 2005.
[9] S.K. Tso, K.L. Fan, Y.H. Fung, L. Han, D.W. Tang, K.P. Liu, and F. Tong, “Inspection of large tile walls for high-rise buildings based on a mechatronic mobile system,” Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 669-672, 2003.
[10] N. Elkmann, T. Felsch, M. Sack, J. Saenz, and J. Hortig, “Innovative service robot systems for facade cleaning of difficult-to-access areas,” Proc. of IEEE/RSJ Int. Conf. Intelligent Robots Systems EPFL, pp. 756-762, 2002.
[11] H. Zhang, J. Zhang, G. Zong, W. Wang, and R. Liu, “Sky Cleaner 3: a real pneumatic climbing robot for glass-wall cleaning,” IEEE Robotics & Automation Magazine, Vol.13, Issue 1, pp. 32-41, 2006.
[12] S. Kitai, K. Tsuru, and S. Hirose, “The proposal of swarm type wall climbing robot system “Anchor Climber” -the design and examination of adhering mobile unit-,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 475-480, 2005.
[13] M. Suzuki, S. Kitai, and S. Hirose, “Basic systematic experiments and new type child unit of Anchor Climber: Swarm type wall climbing robot system,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3034-3039, 2008.
[14] Y. Sorioka, T. Yamaguchi, and S. Hashimoto, “Development of a Telescopic-Arm Type, Climbing Support Robot,” Proc. of ROBIO2008, 2008 (In press).
[15] http://www.spinmaster.com/
[16] T. Yamaguchi, S. Nakamura, R. Saegusa, and S. Hashimoto, “Image-based crack detection for real concrete surface,” IEEJ Trans. on Electrical and Electronic Engineering, Vol.3, No.1, pp. 128-135, 2008.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Miyake and H. Ishihara, “WallWalker: Proposal of locomotion mechanism cleaning event at the corner,” Proc. of the 7th Int. Conf. on Climbing and Walking Robots (CLAWAR), pp. 341-348, 2004.

[2] [2] S. Hirosea and H. Tsutsumitake, “Disk Rover: A wall-climbing robot using permanent magnet disks,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2074-2079, 1992.

[3] [3] W. Shen, J. Gu, and Y. Shen, “Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks,” Proc. of IEEE Int. Conf. on Mechatronics and Automation, pp. 2072-2077, 2005.

[4] [4] L. Illingworth and D. Reinfeld, “Vortex attractor for planar and non-planar surfaces,” US Patents #6619922, 2003.

[5] [5] M. Elliott, W. Morris, A. Calle, and J. Xiao, “City-Climbers at work,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2764-2765, 2007.

[6] [6] A. K. Geim, S. V. Dubonos, I. V. Grigorieva, K. S. Novoselov, A. A. Zhukov, and S. YU. Shapoval, “Microfabricated adhesive mimicking gecko foot-hair,” Nature Materials, Vol.2, pp. 461-463, 2003.

[7] [7] M. P. Murphy and M. Sitti, “Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives,” Proc. of IEEE/ASME Trans. on Mechatronics, Vol.12, No.3, pp. 330-338, 2007.

[8] [8] S. Kim, A. T. Asbeck, M. R. Cutkosky, and W. R. Provancher, “SpinybotII: Climbing hard walls with compliant microspines,” Proc. of IEEE Int. Conf. on Advanced and Robotics, pp. 601-606, 2005.

[9] [9] S.K. Tso, K.L. Fan, Y.H. Fung, L. Han, D.W. Tang, K.P. Liu, and F. Tong, “Inspection of large tile walls for high-rise buildings based on a mechatronic mobile system,” Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 669-672, 2003.

[10] [10] N. Elkmann, T. Felsch, M. Sack, J. Saenz, and J. Hortig, “Innovative service robot systems for facade cleaning of difficult-to-access areas,” Proc. of IEEE/RSJ Int. Conf. Intelligent Robots Systems EPFL, pp. 756-762, 2002.

[11] [11] H. Zhang, J. Zhang, G. Zong, W. Wang, and R. Liu, “Sky Cleaner 3: a real pneumatic climbing robot for glass-wall cleaning,” IEEE Robotics & Automation Magazine, Vol.13, Issue 1, pp. 32-41, 2006.

[12] [12] S. Kitai, K. Tsuru, and S. Hirose, “The proposal of swarm type wall climbing robot system “Anchor Climber” -the design and examination of adhering mobile unit-,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 475-480, 2005.

[13] [13] M. Suzuki, S. Kitai, and S. Hirose, “Basic systematic experiments and new type child unit of Anchor Climber: Swarm type wall climbing robot system,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3034-3039, 2008.

[14] [14] Y. Sorioka, T. Yamaguchi, and S. Hashimoto, “Development of a Telescopic-Arm Type, Climbing Support Robot,” Proc. of ROBIO2008, 2008 (In press).

[15] [15] http://www.spinmaster.com/

[16] [16] T. Yamaguchi, S. Nakamura, R. Saegusa, and S. Hashimoto, “Image-based crack detection for real concrete surface,” IEEJ Trans. on Electrical and Electronic Engineering, Vol.3, No.1, pp. 128-135, 2008.