Analysis of control strategies and dynamic behaviour of CliffRider: The single wheeled abseiling face inspection robot

This paper details the derivation of a 3D dynamic model for simulation, which supported the development of the CliffRider concept; a novel robotic system that has the capability of abseiling steep, crater like terrain. The CliffRider system comprises an autonomous single wheeled platform, tethered by two winches mounted on the plateau of the cliff of descent. The simulation integrates the state variable rates derived from discrete evaluation of highly non-linear equations of motion. Equations of motion are derived from the principles of Lagrangian Dynamics with non-holonomic constraints. Simulation results reveal the effectiveness of two innovative control strategies aimed at stabilising the statically unstable system; improving CliffRider´s inclined locomotion capability.