3DCLIMBER: A climbing robot for inspection of 3D human made structures

3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures. This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing robot with minimum degrees of freedom which c...

Full description

Saved in:
Bibliographic Details
Published in2008 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4130 - 4135
Main Authors Tavakoli, M., Marjovi, A., Marques, L., de Almeida, A.T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2008
Subjects
AC motors
Brushless DC motors
Brushless motors
Climbing robots
DC motors
Grippers
Robots
Online AccessGet full text

Cover

More Information
Summary:3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures. This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing robot with minimum degrees of freedom which can climb over 3D structures with bends and branches followed by Preliminary test results of the robot performance. Electronics architecture and control algorithms are briefly described. The paper finishes with discussion of the current results and identifies some future works.
ISBN:9781424420575
1424420571
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2008.4651024