A Direction Dependent Parametric Model for the Vacuum Adhesion System of the Alicia II Robot

In this work, some parametric nonlinear dynamic models for the pneumatic adhesion subsystem of the climbing robot Alicia II have been computed. The structures of the used models rely on the real system physics and on some heuristic considerations. The former allowed to classify the system as direction dependent; the latter allowed to compensate the models for some other kind of nonlinearities. The proposed models can be useful to implement and tune a control algorithm for the pressure inside the pneumatic adhesion cup of the robot, in order to prevent it from falling down