Roboclimber is a robotic system conceived, studied, designed, and realized to perform consolidation operations primarily to replace human workers in the highly dangerous task of rocky wall consolidation. Roboclimbers are able to climb on rocky, irregular walls with slopes up to 30° by using only legs and in the case of higher slopes, ropes that connect it to points fixed on the wall top. The performance targets and advantages associated with the Roboclimber development are: improvement of the overall efficiency, safety of the operators and is eco-sustainability. The architecture of the robot, gait planning, planning by a partial order planner, planning by a search algorithm and the application of the planning algorithm are outlined.
Roboclimber versus landslides
CEPOLINA, F;ZOPPI, MATTEO;MOLFINO, REZIA
2006-01-01
Abstract
Roboclimber is a robotic system conceived, studied, designed, and realized to perform consolidation operations primarily to replace human workers in the highly dangerous task of rocky wall consolidation. Roboclimbers are able to climb on rocky, irregular walls with slopes up to 30° by using only legs and in the case of higher slopes, ropes that connect it to points fixed on the wall top. The performance targets and advantages associated with the Roboclimber development are: improvement of the overall efficiency, safety of the operators and is eco-sustainability. The architecture of the robot, gait planning, planning by a partial order planner, planning by a search algorithm and the application of the planning algorithm are outlined.
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