2024-03-29T02:30:33Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/2129702020-12-10T07:37:07Zcom_10261_31565com_10261_4com_10261_44col_10261_31566col_10261_297
ROMERIN: A Modular Climber Robot for Infrastructure Inspection
Hernando, Miguel
Brunete, Alberto
Gambao, Ernesto
his paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as the initial mathematical models required for the development of a control system based on a biomimetic organic model. Finally, it is highlighted the use of simulators to help the iterative design process of a strongly mechatronic system. Some of the obtained results have been experimentally validated
2020-06-02T09:39:28Z
2020-06-02T09:39:28Z
2019-01
2020-06-02T09:39:28Z
artículo
http://purl.org/coar/resource_type/c_6501
doi: 10.1016/j.ifacol.2019.11.712
issn: 2405-8963
IFAC-PapersOnLine 52: 424- 429 (2019)
http://hdl.handle.net/10261/212970
10.1016/j.ifacol.2019.11.712
Postprint
http://dx.doi.org/10.1016/j.ifacol.2019.11.712
Sí
open
Elsevier