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In this paper, we present three pole climbing robots which were evolved gradually to reduce the complexity and increase the payload of the robots. The designs evolved toward natural stability, which is inspired from human pole climbers. In contrast to human climbers, all three versions rely on wheel mechanism to ensure smooth and fast climbing motion. The stability of the robots was statically analyzed...
This work extends the probabilistic roadmap (PRM) framework by efficiently incorporating the force closure (FC) criterion into motion planning. A new FC verification approach is proposed that eliminates the need for testing FC in the intermediate configurations of the local planner. The algorithm is tested for special kinds of planar robots that have two wheeled-tip fingers. The wheels are actuated...
In this paper, we present a robotic pole climber that can be used for moving up lighting poles, telephone line poles, or similar poles for the purpose of cleaning, maintenance, or inspection. The proposed design is inspired from human climbers, which use a strap and their weight to stably climb poles. The major advantage of this design is in its capability of carrying high payloads and its natural...
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