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JRM Vol.21 No.5 pp. 621-627
doi: 10.20965/jrm.2009.p0621
(2009)

Paper:

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:
Tomoyuki Yamaguchi, Yoshiaki Sorioka, Sunhong Park, and Shuji Hashimoto, “SIEN: Telescopic-Arm Climbing-Support Robot,” J. Robot. Mechatron., Vol.21, No.5, pp. 621-627, 2009.
Data files:
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