Development and applications of a simulation framework for a wall-climbing robot

In the range of robotics, simulation frameworks are very common. They are used to perform tests of algorithms, for optimization and to analyze the system behavior in situations, which would be hazardous or difficult for the real robot. This paper addresses a simulation framework related to a wall-climbing robot using negative pressure adhesion in combination with an omnidirectional drive system. The key aspect of this simulation is the adhesion system consisting of simulated pressure sensors, valves between adhesion chambers and vacuum reservoir and a simulated adaptive sealing proofing the vacuum chambers towards ambient air. The interaction of environmental features (e. g. surface characteristics like roughness or special geometries) and the vacuum chambers of the robot is handled by a thermodynamic model providing the basis for airflow simulation between the virtual surface and the robot. These features facilitate the validation of control algorithms and closed-loop controllers in realtime.