Design of safe reactional controller for chamber pressure in climbing robot CREA

CREA robot is designed to climb up concrete walls. The robot uses the suction mechanism to provide adhesion and wheel mechanism for locomotion. Eleven chambers which are connected to one common reservoir are responsible to produce adhesion force. A controller is developed to independently control each chamber while satisfying certain criteria on the safety of the robot. It is also designed to reach minimum friction between active inflatable seals and wall. In conclusion, the controller is able to successfully meet the conditions of stability, minimum friction and safety.