Research on the Modeling and Transition Algorithm of a Novel Wall-Climbing Robot

Abstract:

This paper presents a modeling and transition algorithm of a novel wall-climbing robot with biped-wheel hybrid mechanism. In order to realize robot transitions between inclined surfaces, the robot’s locomotion gait is analyzed and a locomotion gait planning model based on Finite State Machine (FSM) is established. Moreover a transition algorithm between inclined surfaces is proposed based on multi-sensors data fusions and logical reasoning networks. The results of simulations and experiments show that the model and algorithm are valid and can be applied for the wall-climbing robot’s transition between the concave surfaces.

• Periodical: Advanced Engineering Forum (Volumes 2-3)
• Pages: 340-345
• DOI: https://doi.org/10.4028/www.scientific.net/AEF.2-3.340
• Online since: December 2011
• Authors: Zhen Hui Li, Hong Guang Wang, Yue Chao Wang, Ai Hua Liu, Wei Guang Dong
• Keywords: FSM, Transition between Inclined Surfaces, Wall-Climbing Robot

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