DESIGN AND CONTROL OF A BIO-INSPIRED CLIMBING ROBOT

Priyabrata Chattopadhyay, and Sanjoy K. Ghoshal

Keywords

Climbing robot, Locomotion, Adhesion methods, Kinematics, Dynamics, PID Control

Abstract

Autonomous climbing on vertical surfaces has been a major challenge in research of climbing robot. Performance of a climbing robot depends on controlling of joint actuators and adhesion force. This paper undergoes design and control of bio-inspired climbing robot intended for ferromagnetic surfaces. The robot is a serial chain robot which consists of four identical segmented sections connected through joints. Each joint is equipped with servomotor and two electromagnets are provided at two ends. Magnets are energized by switching command and no extra control unit is needed. A simple gait planning has been designed for stepping like climbing. Robot kinematics and dynamics are formulated and joint orientation function is implemented to control joint actuation of nonlinear system. PID control is implemented to track the desired position of joints. An experimental robot prototype is fabricated and mathematical model is validated through test data.

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