An autonomous localisation method of wall-climbing robots on large steel components with IMU and fixed RGB-D camera
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Navigation"
DOI: 10.1017/s0373463325000049
Abstract: Abstract Wall-climbing robots work on large steel components with magnets, which limits the use of wireless sensors and magnetometers. This study aims to propose a novel autonomous localisation method (RGBD-IMU-AL) with an inertial measurement unit… read more here.
Keywords: method; wall climbing; autonomous localisation; localisation ... See more keywords
Geometrical motion planning for cable-climbing robots applied to distribution power lines inspection
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2020.1868612
Abstract: ABSTRACT This paper describes a kind of mobile robot, named cable-climbing robot, and its motion planning development. That robotic system is capable of moving over electricity distribution lines, which can easily overcome the obstacles present… read more here.
Keywords: cable; cable climbing; motion planning; climbing robots ... See more keywords
Climbing robots for manufacturing
Sign Up to like & getrecommendations! Published in 2023 at "National Science Review"
DOI: 10.1093/nsr/nwad042
Abstract: Abstract Robotized intelligent manufacturing is a growing trend in the manufacturing of large and complex components in aviation, aerospace, marine engineering and other industries. With their expansive workspaces and flexible deployment, climbing manufacturing robots can… read more here.
Keywords: climbing manufacturing; climbing robots; research; robots manufacturing ... See more keywords
Structured Light Vision-Based Automatic Gripping of Pipes in Biped Climbing Robots
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Sensors Journal"
DOI: 10.1109/jsen.2024.3357069
Abstract: The gripping operation is paramount for biped climbing robots (BiCRs), as an improper grip may result in high-rise falls. Automating this operation contributes to expediting grip establishment and enhancing grip quality. In this study, we… read more here.
Keywords: structured light; grip; light vision; automatic gripping ... See more keywords
Design of a Flexible Passive Adaptive Suction Module for Wall-Climbing Robots
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3621974
Abstract: As the demand for three-dimensional operations grows, wall-climbing robots must traverse complex curved surfaces featuring discontinuous curvatures and abrupt transitions between planes, cylinders, and spheres. Traditional rigid structures often fail to maintain stable, conformal adhesion… read more here.
Keywords: wall climbing; suction module; adaptive suction; wall ... See more keywords
LESO-Based NMPC Tracking Control of Climbing Robot on Large Components With Variable Curvature
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2025.3532418
Abstract: Wheeled climbing robots have great application prospects in the machining of large components with variable curvature. However, its accurate motion control on variable curvature surfaces faces two fatal challenges. The varied contact states between the… read more here.
Keywords: kinematics; control; variable curvature; large components ... See more keywords
Global Localization Based on Tether and Visual-Inertial Odometry With Adsorption Constraints for Climbing Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2022.3205952
Abstract: Localization in a large-scale three-dimensional scene is a key challenge faced by climbing robots on large workpieces. This article proposes a global localization method for climbing robots based on tether displacement sensor, visual-inertial odometry (VIO),… read more here.
Keywords: adsorption constraints; localization; based tether; global localization ... See more keywords
Planning Three-Dimensional Collision-Free Optimized Climbing Path for Biped Wall-Climbing Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2020.3045089
Abstract: Biped wall-climbing robots well adapt for carrying out tasks in large-scale 3-D environments such as skeleton-facade structures, due to their good abilities to transit between walls and surmount obstacles. However, to plan 3-D collision-free climbing… read more here.
Keywords: collision free; wall climbing; biped wall; wall ... See more keywords
Soft Modular Climbing Robots
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3189228
Abstract: Soft climbing robots have elicited widespread attention for their potential applications in inspection, maintenance, and search and rescue tasks. However, these robots face challenges in terms of their adaptability and motion capability in various surface… read more here.
Keywords: output; motion; soft modular; modular climbing ... See more keywords
Wall-Climbing Robots with Permanent-Magnet Contact Devices: Design and Control Concept of the Contact Devices
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Computer and Systems Sciences International"
DOI: 10.1134/s1064230719050137
Abstract: The basic types of wall-climbing robots that use permanent magnets as locking devices are reviewed. The robots that use various locomotion techniques, viz., walking, wheeled, and caterpillar robots are considered. Special attention is paid to… read more here.
Keywords: wall climbing; control concept; climbing robots; contact devices ... See more keywords
Hierarchical collision-free motion planning method for biped truss-climbing robots
Sign Up to like & getrecommendations! Published in 2025 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/01423312241309411
Abstract: Biped truss climbing robots (BTCRs) are employed to perform high-rise tasks within truss environments, benefiting from their superior transition capabilities and flexible mobility. However, the intricate geometry of these structures poses challenges for robot navigation… read more here.
Keywords: free motion; truss climbing; biped truss; collision free ... See more keywords