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W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the robot is actually a mobile 5-DoF manipulator with dual sucking end-effectors at the two ends. With this kinematic structure and biped climbing mode, W-Climbot has superior wall-climbing function (great ability to omni-directional locomotion, to...
High-rise tasks in agriculture, forestry and building industry requires robots possessing climbing function. Motivated by these potential applications and inspired by the climbing motion of animals such as inchworms, we have developed a novel biped climbing robot - Climbot. Built with a modular approach, the robot consists of five 1-DoF joint modules connected in series and two special grippers mounted...
A novel biped robot that can climb poles, trusses and trees for high-rise missions has been recently developed. Consisting of an arm as the main body and two grippers mounted at the two ends as the end-effectors, the robot has both climbing function and manipulating function. One key issue with the robot is that its gripper must grasp the object firmly to support the whole robot when it performs climbing...
Although a large number of wall-climbing robots have been developed in the past decades, most of them suffer from shortcomings such as poor ability to omni-directional locomotion, lower capability to transit between walls and to negotiate obstacles on the walls. To overcome these drawbacks, we have developed a novel biped wall-climbing robot - W-Climbot using modularization method. Consisting of an...
Inspired by the motion patterns of inchworms, a miniature biped climbing robot is developed with modularization method for some tedious and dangerous high-rise tasks. This inchworm-like mini-robot consists of several modules including I-typed joint modules, T-typed joint modules, and gripper modules, which are all driven by small RC servo motors. In this paper, the development of the robot prototype...
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