DocumentCode
2583788
Title
OmniClimber: An omnidirectional light weight climbing robot with flexibility to adapt to non-flat surfaces
Author
Tavakoli, Mahmoud ; Marques, Lino ; De Almeida, Aníbal T.
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Coimbra, Coimbra, Portugal
fYear
2012
fDate
7-12 Oct. 2012
Firstpage
280
Lastpage
285
Abstract
This paper introduces a novel climbing robot with high maneuverability for inspection of ferromagnetic 3D human made structures. The robot takes advantage of novelties which allows an excellent maneuverability on the structure and can adapt to flat and non-flat structures. In this paper we present the conceptual and detailed design of the robot, the implementation and two tests: laboratory tests on a flat surface; and a set of field tests performed on a wind turbine foundation to prove the applicability of the robot on both structures.
Keywords
foundations; inspection; mobile robots; wind turbines; OmniClimber; ferromagnetic 3D human made structure inspection; high maneuverability; nonflat surface adaptation; omnidirectional light weight climbing robot; wind turbine foundation; Climbing robots; Force; Inspection; Materials; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location
Vilamoura
ISSN
2153-0858
Print_ISBN
978-1-4673-1737-5
Type
conf
DOI
10.1109/IROS.2012.6385454
Filename
6385454
Link To Document