Dexterous energy-autarkic climbing robot

Abstract

Over the last years researchers have put forth climbing robots for applications like cleaning and inspection of buildings, many composed of large glass facades or plain painted surfaces. Besides adhesion to the surface, dexterity and energy supply have turned out to be large challenges. This paper proposes an energy-autarkic and dexterous robot concept, able to cross frames and climb arbitrarily inclined smooth surfaces. To demonstrate this concept, the fourlegged prototype CLAUS with kinematics of a simple four-legged walking robot is introduced. Passive suction cups on each foot provide a simpleand robust method of adherence for climbing and avoid the constant energy consumption of active adherence systems. A simple release mechanism controls these suction cups. By reducing weight, cost and energy consumption of active adherence devices, the presentedconcept of the CLAUS robot comes one step closer to the ambition of low-cost, dexterousand energy-autarkic climbing robots. To illustrate this concept basic investigations are made using the CLAUS platform and considerations of control are discussed. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.