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Development and Control of a Differential Wall Climbing Robot based on Vortex Adhesion
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-6415-6982
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-9399-7801
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2019 (English)In: 2019 18th European Control Conference (ECC), IEEE, 2019, p. 1610-1615Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the development and control of a novel differential drive Vortex Robot (VR) will be presented. Towards the direction of developing a climbing robot for inspection and repair of large infrastructures, a lightweight reliable climbing robot is proposed, being able to carry high payload via an Electric Ducted Fan (EDF) vortex based adhesion actuator. Towards these objectives, the fundamental elements of the overall design will be presented. For the preliminary evaluation of the proposed system, a PID-based control architecture will be analyzed and experimentally evaluated, with the goal of controlling the locomotion properties of the VR, while achieving a constant adhesion regardless the orientation of the robot and the surface's inclination. To further evaluate the robot's efficiency in real-life scenarios, such as the inspection and repair of airplane structures, results acquired via field trials involving a full-scale Boeing 737 will be presented.

Place, publisher, year, edition, pages
IEEE, 2019. p. 1610-1615
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-82794DOI: 10.23919/ECC.2019.8796154ISI: 000490488301103Scopus ID: 2-s2.0-85071566984OAI: oai:DiVA.org:ltu-82794DiVA, id: diva2:1526043
Conference
18th European Control Conference (ECC 2019), Naples, Italy, June 25-28, 2019
Funder
EU, Horizon 2020, 665238
Note

ISBN för värdpublikation: 978-3-907144-00-8

Available from: 2021-02-05 Created: 2021-02-05 Last updated: 2024-03-07Bibliographically approved

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Papadimitriou, AndreasAndrikopoulos, GeorgiosNikolakopoulos, George

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