Next Article in Journal
Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments
Next Article in Special Issue
A Tactile-Based Wire Manipulation System for Manufacturing Applications
Previous Article in Journal
The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM
Previous Article in Special Issue
On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture
Open AccessArticle

Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

1
Department of Engineering and Architecture, University of Trieste, 34100 Trieste, Italy
2
Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy
3
Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy
*
Author to whom correspondence should be addressed.
Robotics 2019, 8(2), 41; https://doi.org/10.3390/robotics8020041
Received: 30 March 2019 / Revised: 23 May 2019 / Accepted: 29 May 2019 / Published: 31 May 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between them. Thanks to this configuration, the mobile robot can climb even nonferromagnetic and curved surfaces; moreover, the master cart is capable of freely moving on the floor by detaching from the follower. In this paper, we propose the mathematical modeling, simulation, and experimental validation of this kind of robots, with particular focus on the transitions between floor and climbing motion. View Full-Text
Keywords: mobile robot; climbing robot; wheeled robot; magnetic adhesion mobile robot; climbing robot; wheeled robot; magnetic adhesion
Show Figures

Figure 1

MDPI and ACS Style

Seriani, S.; Scalera, L.; Caruso, M.; Gasparetto, A.; Gallina, P. Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems. Robotics 2019, 8, 41.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop