One unsolved problem of mobile robotics is the inspection of large concrete buildings such as pylons of huge bridges or walls of dams. These dangerous inspection tasks are currently done by humans who are driven inside gondolas to the needed position. To reduce the exposure to danger and the interference of the traffic (some lanes have to be closed during inspection) this prototype will be created.
The major goal of this project is the development of a wheel driven service robot, which can cling to a wall via underpressure. It has to be controllable by a person but should evade obstacles autonomously and inspect the concrete building area-wide. To demonstrate the performance of the system a bridge pylon should be inspected by the robot. Sub-goals of the project are the underpressure chambers including seals and valves, a reliable control architecture and sensorbased perception of the environmental conditions.
For optimal movement the robot CROMSCI is equipped with three single steerable and driven wheels. On an outer ring lies a movable manipulator which should carry the sensor for inspection. The round shape with a complete diameter of 80cm is devided into seven single vacuum chambers for better sucking attributes. Single losses of underpressude can be balanced and the robot will not drop down.
|outer diameter||80 cm|
|total height||50 cm|
|current weight||about 50 kg|
|max. depression of one motor||30.000 Pa|
|max. volume flow of three motors||180 l/s|
|drive||three omnidirectional wheels|
|max. speed||10 m/min|
|range of manipulator||about 80 cm|
|processor||1 onboard PC|
List of Publications
- Risk and Safety Aspects for Wall-Climbing Robots.
8th German Conference on Robotics (Robotik) , (2014)
- 3D Realtime Simulation Framework for a Wall-Climbing Robot using Negative-Pressure Adhesion.
10th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 184 - 191. (2013)
- Climbing Robots for Maintenance and Inspections of Vertical Structures Â A Survey of Design Aspects and Technologies.
Journal of Robotics and Autonomous Systems, Vol. 61, S. 1288 - 1305. (2013)
- Development and Applications of a Simulation Framework for a Wall-Climbing Robot.
26th International Conference on Intelligent Robots and Systems (IROS), S. 2321 - 2326. (2013)
- Examination of Surface Feature Analysis and Terrain Traversability for a Wall-Climbing Robot.
16th International Conference on Climbing and Walking Robots (CLAWAR), S. 309 - 316. (2013)
- Safe Navigation of a Wall-Climbing Robot - Risk Assessment and Control Methods.
- Safe Navigation of a Wall-Climbing Robot by Methods of Risk Prediction and Suitable Counteractive Measures.
26th International Conference on Intelligent Robots and Systems (IROS), S. 2309 - 2314. (2013)
- Advanced Motion Control for Safe Navigation of an Omnidirectional Wall-Climbing Robot.
22nd Conference on Autonomous Mobile Systems (AMS), S. 137 - 145. (2012)
- Analysis of Sliding Suction Cups for Negative Pressure Adhesion of a Robot Climbing on Concrete Walls.
15th International Conference on Climbing and Walking Robots (CLAWAR) , S. 813 - 820. (2012)
- Risk Prediction of a Behavior-Based Adhesion Control Network for Online Safety Analysis of Wall-Climbing Robots.
9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 118 - 123. (2012)
- Surface Feature Extraction and Analysis for a Wall-Climbing Robot.
- Behavior-Based Adhesion Control System for Safe Adherence of Wall-Climbing Robots.
14th International Conference on Climbing and Walking Robots (CLAWAR), S. 857 - 864. (2011)
- Omnidirectional Locomotion and Traction Control of the Wheel-driven Wall-climbing Robot CROMSCI.
Robotica Journal, Vol. 29, Nr. 7, S. 991 - 1003. (2011)
- Behavior-based obstacle detection and avoidance system for the omnidirectional climbing robot Cromsci.
13th International Conference on Climbing and Walking Robots (CLAWAR), S. 73 - 80. (2010)
- Local Mapping and behavior-Based Control for Obstacle Avoidance of a Climbing Robot.
- Sicheres Klettern eines radgetriebenen Roboters mit Unterdruckkammern an por"osen Fl"achen.
RRLab Dissertations, (2010)
- Force and traction controlled propulsion of the omnidirectional climbing robot Cromsci.
12th International Conference on Climbing and Walking Robots (CLAWAR) , S. 757 - 764. (2009)
- Kraft- und traktionskontrollierte Fortbewegung des omnidirektionalen Kletterroboters Cromsci.
- Sicheres Klettern eines radgetriebenen Roboters mit Unterdruckkammern an porösen Flächen.
- Cromsci - A Climbing Robot With Multiple Sucking Chambers For Inspection Tasks.
11th International Conference on Climbing and Walking Robots (CLAWAR), S. 311 - 318. (2008)
- Cromsci - Development of a Climbing Robot with Negative Pressure Adhesion for Inspections.
Industrial Robot Journal, Vol. 35, Nr. 3, S. 228 - 237. (2008)
- Design and development of a sealing-system for climbing-robots.
6th National Conference on Mechanical Engineering (Gepeszet), (2008)
- Development of a sealing system for a climbing robot with negative pressure adhesion.
10th International Conference on Climbing and Walking Robots (CLAWAR), S. 115 - 124. (2007)
- Control of an Autonomous Climbing Robot.
Lecture Notes in Control and Information Sciences, (2006)
- Inspection of Surfaces with a Manipulator Mounted on a Climbing Robot.
37th International Symposium on Robotics (ISR), (2006)
- The Force Controlled Propulsion And Adhesion System For A Climbing Robot.
9th International Conference on Climbing and Walking Robots (CLAWAR), S. 158 - 161. (2006)
- Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot.
20th IEEE International Conference on Robotics and Automation (ICRA), S. 2727 - 2732. (2005)
- A Climbing Robot based on under Pressure Adhesion for the Inspection of Concrete Walls.
35th International Symposium on Robotics (ISR), S. 119. (2004)
- A Sensor System for the Localisation of Climbing Robots.
4th International Workshop on Robot Motion and Control (RoMoCo), S. 109 - 114. (2004)
- Simulation of Climbing Robots Using Underpressure for Adhesion.
7th International Conference on Climbing and Walking Robots (CLAWAR), (2004)
- A Climbing Robot for Inspection Tasks in Civil Engineering.
1st International Workshop on Advances in Service Robotics (ASER), (2003)