Rapid pole climbing with a quadrupedal robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Self calibration of step-by-step based climbing robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Three-dimensional localization for the MagneBike inspection robot
Journal of Field Robotics
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This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of OmniClimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed.