A state-space direction dependent parametric model for the suction cup 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 state-space structures of the 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. Moreover the state-space form can help in giving some stability property for the designed model. The proposed system representations could be useful to implement and tune control algorithms for the pressure inside the pneumatic adhesion cup of the robot, in order to prevent it from falling down.