ICRA 2012 Paper Abstract


Paper WeB310.4

Lee, Giuk (Seoul National University), Wu, Geeyun (Seoul National University), Kim, Sun Ho (Seoul National University), Kim, Jongwon (Seoul National University), Seo, TaeWon (Yeungnam University)

Combot: Compliant Climbing Robotic Platform with Transitioning Capability and Payload Capacity

Scheduled for presentation during the Interactive Session "Interactive Session WeB-3" (WeB310), Wednesday, May 16, 2012, 11:30−12:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Climbing Robots, Compliant Joint/Mechanism, Mechanism Design of Mobile Robots


Transitioning capability and high payload capacity are problems for climbing robots. To increase the possible applications for climbing robots, these two abilities are required. We present a new climbing robotic platform named “Combot” to achieve both transitioning capability and high payload capacity. The robot is composed of three main modules with flexible magnetic treads, connecting links with torsion springs and torque-controlled motors, and an active tail at the end of the robot. The robot can perform internal and external transitions using compliant torques from the torsion springs and the active tail. The compliant torques are changed according to external structures; thus, a complex feedback controller is not required. The payload capacity of the robot is measured by 10 kg (1.56 times the robot mass) during flat surface vertical climbing. The robot is expected to be used to move heavy materials to high places in the ship building industry.



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