• DocumentCode
    3709546
  • Title

    InchwormClimber: A light-weight biped climbing robot with a switchable magnet adhesion unit

  • Author

    José Carlos Romão;Mahmoud Tavakoli;Carlos Viegas;Pedro Neto;Aníbal T. de Almeida

  • Author_Institution
    Institute for Systems and Robotics, Dep. of Electrical and Computer Eng., University of Coimbra, Portugal
  • fYear
    2015
  • fDate
    9/1/2015 12:00:00 AM
  • Firstpage
    3320
  • Lastpage
    3325
  • Abstract
    This article presents an inchworm climbing robot that is designed with switchable magnets and a single DOF arm. The InchwormClimber works on ferromagnetic structures and consumes little energy when climbing and can descend safely with almost zero energy consumption. Furthermore, considering the critical role of the adhesion unit in the overall functionality of the robot (weight, climbing speed and the payload), we optimized the switchable magnet unit for a higher adhesion force per mass unit.
  • Keywords
    "Adhesives","Force","Switches","Climbing robots","Magnetic levitation","Actuators"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353839
  • Filename
    7353839
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709546