9 May 2006 City Climber: a new generation of mobile robot with wall-climbing capability
Author Affiliations +
Abstract
This paper introduces a new generation wall-climbing robots named as City-climber, which has the capabilities to climb walls, walk on ceilings, and transit between different surfaces. Unlike the traditional wall-climbing robots, the Cityclimber robots use aerodynamic attraction which achieves good balance between strong adhesion force and high mobility. Since the City-climber robots don't require perfect sealing as the vacuum suction technique does, the robots can move on virtually any kinds of smooth or rough surfaces. The other novelties of the City-climber robots are the modular design and high-performance on-board processing unit. The former feature achieves booth fast motion of each module on planar surfaces and smooth transition between the surfaces by a set of two modules. The latter feature makes the real-time signal processing and autonomous operation possible. We envision that the City-climber robots be used in urban environments for search and rescue, weapon/tool delivery, inspection and surveillance purposes. To increase the hardware and software reconfigurability, the self-contained City-climber robots use system-on-programmable-chip (SoPC) technology for on-board perception and motion control. The video display several versions of the City-Climber prototypes, illustrating the main areas of functionality and results of several key experimental tests, including 4.2kg payload, operation on rough surfaces, locomotion over surface gaps, and inverted operation on ceiling, to name a few.
© (2006) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jizhong Xiao, Jizhong Xiao, William Morris, William Morris, Narashiman Chakravarthy, Narashiman Chakravarthy, Angel Calle, Angel Calle, "City Climber: a new generation of mobile robot with wall-climbing capability", Proc. SPIE 6230, Unmanned Systems Technology VIII, 62301D (9 May 2006); doi: 10.1117/12.666374; https://doi.org/10.1117/12.666374
PROCEEDINGS
10 PAGES


SHARE
RELATED CONTENT

Sozzy: a hormone-driven autonomous vacuum cleaner
Proceedings of SPIE (January 31 1994)
Adaptive motor control with reconfigurable logic
Proceedings of SPIE (August 25 1999)
Modular countermine payload for small robots
Proceedings of SPIE (April 29 2010)
Robotic control using sequential function charts
Proceedings of SPIE (December 18 1996)

Back to Top