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ROMERIN: A Modular Climber Robot for Infrastructure Inspection

AuthorsHernando, Miguel; Brunete, Alberto ; Gambao, Ernesto
Issue DateJan-2019
CitationIFAC-PapersOnLine 52: 424- 429 (2019)
Abstracthis 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
Publisher version (URL)http://dx.doi.org/10.1016/j.ifacol.2019.11.712
Identifiersdoi: 10.1016/j.ifacol.2019.11.712
issn: 2405-8963
Appears in Collections:(CAB) Artículos
(CAR) Artículos
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