A modular robot climbing on pipe-like structures

ldquoRaupirdquo is a prototype of a climbing robot. The robot is designed modularly, with the demands to climb on a pipe-like substrate and to change to another bar for avoiding. Research on biological climbers shows us, that the locomotion is driven by the trunk, not only by the limbs. So a trunk-driven concept is chosen as a base for the design process. The request by climbing locomotion to the mechanics of the system is very strong. The robot is build by only two different module types. The substrate contact has to be established and broken actively. A sensor concept a schematic was developed, with allow to determinate relevant sensor ranges depending on the desired type of control. It detects the relative position between gripping module and substrate by tactile sensors. The control of the robot is realized with four different modes. It is possible to switch between the modes. So it is possible to use the optimal control strategy for the actual situation.