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Upside-down robots: Modeling and experimental validation of magnetic-adhesion mobile systems

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  • Additional Information
    • Contributors:
      Seriani, S.; Scalera, L.; Caruso, M.; Gasparetto, A.; Gallina, P.
    • Publication Date:
      2019
    • Collection:
      Università degli studi di Trieste: ArTS (Archivio della ricerca di Trieste)
    • Abstract:
      In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between them. Thanks to this configuration, the mobile robot can climb even nonferromagnetic and curved surfaces; moreover, the master cart is capable of freely moving on the floor by detaching from the follower. In this paper, we propose the mathematical modeling, simulation, and experimental validation of this kind of robots, with particular focus on the transitions between floor and climbing motion.
    • Relation:
      info:eu-repo/semantics/altIdentifier/wos/WOS:000475325600018; volume:8; issue:2; firstpage:1; lastpage:20; numberofpages:20; journal:ROBOTICS; http://hdl.handle.net/11368/2952707; info:eu-repo/semantics/altIdentifier/scopus/2-s2.0-85068592968; https://www.mdpi.com/2218-6581/8/2/41
    • Accession Number:
      10.3390/robotics8020041
    • Online Access:
      http://hdl.handle.net/11368/2952707
      https://doi.org/10.3390/robotics8020041
      https://www.mdpi.com/2218-6581/8/2/41
    • Rights:
      info:eu-repo/semantics/openAccess
    • Accession Number:
      edsbas.7E2CE2B