Abstract

The inspection of high ceilings or surfaces is important to ensure the quality and safety of infrastructure; however, the approach adopted by people or conventional robots is rather limited. Kinodynamic constraints (simultaneous kinematic and dynamic constraints) are presented by obstacles in real-life scenarios, such as suspended piping and wiring, which further limits the usability of robots. Therefore, this paper proposed an adhesion robot system that is attached to and maneuvers on flat and curved ceilings while traversing obstructions. To traverse obstacles, the robot comprises two units connected by a passive hinge mechanism. Traversal motion is achieved under adhesion force control with preexisting electric ducted fans without using separate hinge motors; thus, no additional weight is included.

Developed robot

Dual robot enables unique obstacle traversing strategy.

Video

Real world test

Can be used attach to various surfaces since the electric ducted fan based force control enables inspection on almost every surfaces.

Concept usage

Can be used for non-destructive inspection of wall and building.

Citation