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Authors: Atabak Nezhadfard ; Steffen Schütz ; Daniel Schmidt and Karsten Berns

Affiliation: University of Kaiserslautern, Germany

Keyword(s): CREA, Climbing Robots, Nonlinear Control, Chamber Pressure Control, Sealing, Reservoir Pressure, Suction System.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Mobile Robots and Autonomous Systems ; Nonlinear Signals and Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Identification

Abstract: 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.

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Paper citation in several formats:
Nezhadfard, A.; Schütz, S.; Schmidt, D. and Berns, K. (2014). Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 82-89. DOI: 10.5220/0005047900820089

@conference{icinco14,
author={Atabak Nezhadfard. and Steffen Schütz. and Daniel Schmidt. and Karsten Berns.},
title={Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={82-89},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005047900820089},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Design of Safe Reactional Controller for Chamber Pressure in Climbing Robot CREA
SN - 978-989-758-040-6
IS - 2184-2809
AU - Nezhadfard, A.
AU - Schütz, S.
AU - Schmidt, D.
AU - Berns, K.
PY - 2014
SP - 82
EP - 89
DO - 10.5220/0005047900820089
PB - SciTePress

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