Abstract
Background: Pole-climbing robots are a type of application robot commonly used for quality inspection, cleaning, and maintenance of utility poles, high voltage lines, bridge cables, transmission pipelines, and other important facilities with a certain height. The working conditions are often harsh and dangerous, making manual participation unsafe. The pole-climbing robot can provide a platform for maintenance and cleaning work. Remote control operation of the poleclimbing robot is achieved through communication and control technology. It has been created to improve efficiency and reduce personnel accidents greatly. At the same time, the continuous development of science and technology has led to the expansion of robot design concepts. It has also brought about great changes and growth in the development of pole-climbing robots.
Objective: The purpose of this paper is to report the latest progress in the research of pole-climbing robots from bionic and non-bionic perspectives and to provide a research reference for researchers in this field.
Method: By analyzing academic theses and published patents, this paper presents a new classification of pole-climbing robots from the perspective of bionic and non-bionic. By summarizing the literature, the structural characteristics of various pole-climbing robots and their differences and applications are summarized.
Results: The performance of the pole-climbing robots is analyzed from the viewpoint of structural characteristics and action execution methods. In turn, the characteristics of various types of poleclimbing robots are summarized. Finally, based on the above discussion, the future problems and development directions of pole-climbing robots are predicted.
Conclusion: The pole-climbing robots can be divided into two categories, bionic and non-bionic, based on the analysis of design features. Both bionic and non-bionic pole-climbing robots have good development and applications in their respective directions. Also, bionic and non-bionic poleclimbing robots have different detailed classifications based on material, structure, and other perspectives. They have different advantages and disadvantages in terms of the performance of poleclimbing action execution. It provides a research reference for future researchers in this field.
Graphical Abstract
[1]
G.D. Chen, H.Q. Cao, H.F. Yang, S.M. Ji, S.B. Cai, and F.F. Xi, "Research status and outlook of rod climbing robot", Ordnance Industry Automation, vol. 37, no. 03, pp. 21-31, 2018.
[2]
L. Jiang, Y.S. Guan, C.W. Cai, H.F. Zhu, X.F. Zhou, and X.M. Zhang, "Gait analysis of a novel biomimetic climbing robot", Jixie Gongcheng Xuebao, vol. 46, no. 15, pp. 17-22, 2010.
[http://dx.doi.org/10.3901/JME.2010.15.017]
[http://dx.doi.org/10.3901/JME.2010.15.017]
[3]
W. Wang, and H.X. Zhang, "“Climbing technique of cleaning robot for spherical surface", J. Beijing Uni. Aero. Astro., vol. 34, no. 01, pp. 17-21, 2008.
[4]
A. Kakogawa, T. Nishimura, and S. Ma, "Designing arm length of a screw drive in-pipe robot for climbing vertically positioned bent pipes", Robotica, vol. 34, no. 2, pp. 306-327, 2016.
[http://dx.doi.org/10.1017/S026357471400143X]
[http://dx.doi.org/10.1017/S026357471400143X]
[5]
L.B. Zhang, Z.D. Ge, C.Z. Liu, Z.B. Cao, and Y.C. Zhou, "Review on key technology of rod climbing robot", Jisuanji Celiang Yu Kongzhi, vol. 26, no. 01, pp. 1-5, 2018.
[6]
D.D. Zhang, "Structural design of the high voltage transmission line tower climbing robots", J. Mech. Transmission, vol. 39, no. 03, pp. 93-96, 2015.
[7]
S. Liu, H. J. Zhuang, H. L. Gao, and C. J. Lu, "Design and climbing gait analysis of a new-type climbing robot for electric power tower", Machinery Design & Mfg, no. 10, pp. 225-228+232, 2021.
[8]
Z.H. Cao, X.L. Lu, S.P. Zhao, L. Wang, E.Z. Liang, and X.Y. Liu, "Gait Analysis for Electricity Pylon Climbing Robot", J. Xi’an Jiaotong Uni., vol. 45, no. 08, pp. 67-72, 2011.
[9]
L. Jiang, Y.S. Guan, X.F. Zhou, T.N. Yang, M.J. Su, and H.M. Wu, "Grasping Performance Analysis of a Biped-pole-climbing Robot", Jixie Gongcheng Xuebao, vol. 52, no. 3, pp. 34-40, 2016.
[http://dx.doi.org/10.3901/JME.2016.03.034]
[http://dx.doi.org/10.3901/JME.2016.03.034]
[10]
G. Wang, D.S. Chen, K.W. Chen, and Z.Q. Zhang, "The current research status and development strategy on biomimetic robot", Jixie Gongcheng Xuebao, vol. 51, no. 13, pp. 27-44, 2015.
[http://dx.doi.org/10.3901/JME.2015.13.027]
[http://dx.doi.org/10.3901/JME.2015.13.027]
[11]
B. Men, X.K. Fan, and Y.X. Chen, "Research on the development status and trend of bionic robot", Robot Tech. & App., no. 05, pp. 15-19, 2019.
[12]
Q.Y. Liu, and L. Jiang, "Bionics and natural spider silk bionic materials", Chem. J. Chin. Univ., vol. 31, no. 06, pp. 1065-1071, 2010.
[13]
C. Wright, "Design and architecture of the unified modular snake robot", 2012 IEEE International Conference on Robotics and Automation, 2012, pp. 4347-4354.
Saint Paul, MN, USA [http://dx.doi.org/10.1109/ICRA.2012.6225255]
Saint Paul, MN, USA [http://dx.doi.org/10.1109/ICRA.2012.6225255]
[14]
H. Sun, Study on climbing snakelike robot, Ph.D. thesis, Shanghai Jiaotong University, Shanghai, China, 2007.
[15]
X.G. Wang, M.S. Chen, F. Zhao, and Y. Xue, "Design of a crawling bionic robot with variable diameter rod", Machinery, vol. 46, no. 12, pp. 36-39, 2008.
[16]
G. M. Cheng, Z. W. Zhu, Y. F. Sun, H. W. Cai, and Q. Q. Yin, "Dynamic simulation of the pole climbing robot with inchworm locomotion gait", World Sci-Tech R & D, vol. 31, no. 04, pp. 635-637+685, .
[17]
X. Li, W. Wang, S. Wu, P. Zhu, F. Zhao, and L. Wang, "The gait design and trajectory planning of a gecko-inspired climbing robot", Appl. Bionics Biomech., vol. 2018, pp. 1-13, 2018.
[http://dx.doi.org/10.1155/2018/2648502] [PMID: 29849755]
[http://dx.doi.org/10.1155/2018/2648502] [PMID: 29849755]
[18]
M.J. Spenko, G.C. Haynes, J.A. Saunders, M.R. Cutkosky, A.A. Rizzi, R.J. Full, and D.E. Koditschek, "Biologically inspired climbing with a hexapedal robot", J. Field Robot., vol. 25, no. 4-5, pp. 223-242, 2008.
[http://dx.doi.org/10.1002/rob.20238]
[http://dx.doi.org/10.1002/rob.20238]
[19]
G.C. Haynes, "Rapid pole climbing with a quadrupedal robot", 2009 IEEE International Conference on Robotics and Automation, 2009, pp. 2767-2772.
Kobe, Japan [http://dx.doi.org/10.1109/ROBOT.2009.5152830]
Kobe, Japan [http://dx.doi.org/10.1109/ROBOT.2009.5152830]
[20]
S. Bian, Y. Wei, F. Xu, and D. Kong, "A four-legged wall-climbing robot with spines and miniature setae array inspired by longicorn and gecko", J. Bionics Eng., vol. 18, no. 2, pp. 292-305, 2021.
[http://dx.doi.org/10.1007/s42235-021-0032-0]
[http://dx.doi.org/10.1007/s42235-021-0032-0]
[21]
M. Tavakoli, A. Marjovi, L. Marques, and A.T. de Almeida, "3DCLIMBER: A climbing robot for inspection of 3D human made structures", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 4130-4135.
Nice, France [http://dx.doi.org/10.1109/IROS.2008.4651024]
Nice, France [http://dx.doi.org/10.1109/IROS.2008.4651024]
[22]
Z.B. Khalid, M.H. Ullah, R. Ahmed, Z.H. Choudhury, I. Kaish, and M.K. Rhaman, Electrical pole climbing robot: For wiring and repairing distribution lines.2015 18th International Conference on Computer and Information Technology (ICCIT), Dhaka, Bangladesh, 2015, pp. 368-372.
[http://dx.doi.org/10.1109/ICCITechn.2015.7488098]
[http://dx.doi.org/10.1109/ICCITechn.2015.7488098]
[23]
M. Das, Developing a bioinspired pole climbing robot. 2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)., Thanjavur, 2016, pp. 1-6.
[24]
J.F. Zhang, D.S. Liao, X.C. Mei, M. Ye, and P. Guo, "Development of distribution live working robot for cement pole climbing", Machine Tool & Hydraulics, vol. 49. no. 15, pp. 44-51. 2021
[25]
J. Zhang, D. Liao, and P. Guo, Design of a Live Work Climbing Robot Platform for the Distribution, 2021 China International Conference on Electricity Distribution (CICED), 2021, pp. 252-258.
Shanghai, China [http://dx.doi.org/10.1109/CICED50259.2021.9556793]
Shanghai, China [http://dx.doi.org/10.1109/CICED50259.2021.9556793]
[26]
W. Wang, X. Zhang, Y. Zhou, G. Wang, K. Wu, Y. Feng, and S.L. Wu, "A bionic obstacle climbing robot.", C. N. Patent 112,894,854, 2022.
[27]
M.H. Jairan, J.Y.J. Leong, A.F. Mohd-Foazi, W.A.F.W. Othman, A.A.A. Wahab, and S.S.N. Alhady, Development of a Mini Pole-Climbing Robot.In Proceedings of the 12th National Technical Seminar on Unmanned System Technology 2020 (Lecture Notes in Electrical Engineering), Springer, Singapore, 2022, pp. 651-661.
[http://dx.doi.org/10.1007/978-981-16-2406-3_50]
[http://dx.doi.org/10.1007/978-981-16-2406-3_50]
[28]
Q.F. Lin, Design and research of a pole-climbing robot imitating a Koala, M. S. Thesis, Dalian Jiaotong University, Liaoning, China, 2020.
[29]
Q.F. Lin, Y. Chen, and X.P. Song, "Structural Design and Simulation Analysis of Climbing Pole Robot Imitating Koala", J. Dalian Jiaotong Univ., vol. 42, no. 02, pp. 60-65, 2021.
[30]
M. Xuefeng, Y. Liu, L. Junkao, and D. Jie, "Crabbot: A pole-climbing robot driven by piezoelectric stack", IEEE Trans. Robot., vol. 38, no. 2, pp. 765-778, 2022.
[http://dx.doi.org/10.1109/TRO.2021.3102418]
[http://dx.doi.org/10.1109/TRO.2021.3102418]
[31]
Y.P. Ou, J.G. Shi, J. Zhang, and R. Meng, "Design and realization of humanoid pole climbing robot based on MCU", Industrial Technology Innovation, vol. 07, no. 05, pp. 38-45, 2020.
[32]
N. Gong, M.L. Zhang, H. Xie, C.G. Shi, and N.S. Chai, "Intermittent mechanism design and motion characteristics analysis of climbing device for a climbing Robot", Intelli. Comp. App., vol. 11, no. 12, pp. 93-96, 2021.
[33]
K. M. Chu, H. Zhao, K. Feng, J. Wu, and Y. L. Zhu, "Research status of self-bodied bionic robots", Forestry Machin. Woodworking Equipment, vol. 49, no. 11, pp. 4-10+16, 2021.
[34]
T. Wang, Y.F. Hao, X.B. Yang, and L. Wen, "Soft robotics:structure, actuation, sensing and control", Jixie Gongcheng Xuebao, vol. 53, no. 13, pp. 1-13, 2017.
[http://dx.doi.org/10.3901/JME.2017.13.001]
[http://dx.doi.org/10.3901/JME.2017.13.001]
[35]
Y. Tang, Q. Zhang, G. Lin, and J. Yin, "Switchable adhesion actuator for amphibious climbing soft robot", Soft Robot., vol. 5, no. 5, pp. 592-600, 2018.
[http://dx.doi.org/10.1089/soro.2017.0133] [PMID: 29957129]
[http://dx.doi.org/10.1089/soro.2017.0133] [PMID: 29957129]
[36]
Y. Zhang, D. Yang, P. Yan, P. Zhou, J. Zou, and G. Gu, "Inchworm inspired multimodal soft robots with crawling, climbing, and transitioning locomotion", IEEE Trans. Robot., vol. 38, no. 3, pp. 1806-1819, 2022.
[http://dx.doi.org/10.1109/TRO.2021.3115257]
[http://dx.doi.org/10.1109/TRO.2021.3115257]
[37]
G. Singh, S. Patiballa, X. Zhang, and G. Krishnan, "A Pipe-Climbing Soft Robot", 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 8450-8456.
Montreal, QC, Canada. [http://dx.doi.org/10.1109/ICRA.2019.8793815]
Montreal, QC, Canada. [http://dx.doi.org/10.1109/ICRA.2019.8793815]
[38]
B. Liao, Kinematic characteristics and applications of snake-like winding soft rod-climbing robot, M. S. thesis, southwest university of science and technology, Sichuan, China, 2020.
[39]
N.N. Zhu, Design of bionic double-rods climbing soft robot, M. S. thesis, Southwest University of Science and Technology, Sichuan, China, 2020.
[40]
S. Rozen-Levy, W. Messner, and B.A. Trimmer, "The design and development of Branch Bot: a branch-crawling, caterpillar-inspired, soft robot", Int. J. Robot. Res., vol. 40, no. 1, pp. 24-36, 2021.
[http://dx.doi.org/10.1177/0278364919846358]
[http://dx.doi.org/10.1177/0278364919846358]
[41]
D. Xie, J. Liu, R. Kang, and S. Zuo, "Fully 3D-Printed Modular Pipe-Climbing Robot", IEEE Robot. Autom. Lett., vol. 6, no. 2, pp. 462-469, 2021.
[http://dx.doi.org/10.1109/LRA.2020.3047795]
[http://dx.doi.org/10.1109/LRA.2020.3047795]
[42]
J.C. Fauroux, and J. Morillon, "Design of a climbing robot for cylindro‐conic poles based on rolling self‐locking", Ind. Rob., vol. 37, no. 3, pp. 287-292, 2010.
[http://dx.doi.org/10.1108/01439911011037695]
[http://dx.doi.org/10.1108/01439911011037695]
[43]
D.M. Zhang, W. Chen, P.W. Dong, W. Zhang, and Y.J. Li, "A high safety pole climbing robot", C. N. Patent 112,193,343, 2021.
[44]
D.M. Zhang, Y.J. Li, W. Chen, P.W. Dong, and Y. Hong, "An anti-falling device applied to pole climbing robot", C. N. Patent 112,297,063, 2021.
[45]
S. Han, J. Ahn, and H. Moon, "Remotely controlled prehensile locomotion of a two-module 3D pipe-climbing robot", J. Mech. Sci. Technol., vol. 30, no. 4, pp. 1875-1882, 2016.
[http://dx.doi.org/10.1007/s12206-016-0345-9]
[http://dx.doi.org/10.1007/s12206-016-0345-9]
[46]
S.J. Yang, Y. Hou, and M. Lu, "Multi posture mechanical model and stability of joint-wheeled pole climbing robot", Machinery Design & Manufacture, no. 03, pp. 254-257, 2020.
[47]
Y. Cao, Z.Z. Jin, Y. Liu, D. Lian, T. Yuan, and D.B. Zhang, "Research on structure and obstacle crossing stability of pipe truss weld quality inspection robot", Modern Manufacturing Engineering, no. 03, pp. 21-27, 2021.
[48]
W.B. Gao, D.D. Guo, Q. Yu, and X.L. Yu, "A pole climbing robot", C. N. Patent 113,086,04, 2021.
[49]
W. Wang, Development of a power tower climbing robot with obstacle crossing function, M. S. thesis, Southwest Jiaotong University, Sichuan, China, 2020.
[50]
A. Baghani, M.N. Ahmadabadi, and A. Harati, "Kinematics Modeling of a Wheel-Based Pole Climbing Robot (UT-PCR", In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 2099-2104.
[http://dx.doi.org/10.1109/ROBOT.2005.1570423]
[http://dx.doi.org/10.1109/ROBOT.2005.1570423]
[51]
N. Li, X.G. Ji, K. Xu, and A.Q. Cui, "A multi-pose pole-climbing robot to adapt guidebar with different diameter", Mfg. Engg., no. 09, pp. 58-61, 2011.
[52]
S. Khan, and S. Prabhu, "Design and fabrication of wheeled pole climbing robot with high payload capacity", 2nd International Conference on Advances in Mechanical Engineering (ICAME), vol. vol. 402. 2018.
[http://dx.doi.org/10.1088/1757-899X/402/1/012021]
[http://dx.doi.org/10.1088/1757-899X/402/1/012021]
[53]
R.K. Megalingam, "Amaran:An Unmanned Robotic Coconut Tree Climber and Harvester", IEEE/ASME Trans. Mechatron., vol. 26, no. 1, pp. 288-299, 2021.
[54]
J.H. Zou, M.Y. Qin, and S.Y. Wang, "Structural Design and Analysis of a New Type of Pole Climbing Robot", Scientific and Technological Innovation, no. 10, pp. 179-180, 2019.
[55]
X.J. Zhao, J.X. Li, H.Q. Yin, K.K. Zhou, and C.W. Sun, "A pole climbing robot", C. N. Patent 110,712,211, 2020.
[56]
C.D. Wang, G.F. Fan, X.J. Wang, and Y.M. Tang, "Design and Analysis of a Kind of Self-lock Pole-climbing Robot", J. Mechani. Trans., vol. 39, no. 10, pp. 60-63, 2015.
[58]
P. Zhao, M. T. Wu, J. X. Gu, and Y. Chen, "Design and production of a climbing robot for climbing rope", Electronic Design Engineering, vol. 26, no. 23, pp. 121-124+129, 2018.
[59]
H. Yang, "Research and design of self-locking column holding device for pole climbing robot based on solidworks", Mec. & Electric. Engg. Tech., vol. 51, no. 04, pp. 135-138+219, 2022.
[62]
Q. Zhao, Z. Jiang, and H.K. Chu, A Soft-Rigid Air-Propelled Pipe-Climbing Robot. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 11850-11855.
Xi'an, China [http://dx.doi.org/10.1109/ICRA48506.2021.9561321]
Xi'an, China [http://dx.doi.org/10.1109/ICRA48506.2021.9561321]
[64]
J.X. Chen, "A pole climbing robot with liftable working platform", C. N. Patent 112,661,074, 2021.
[65]
J.-H. Liu, and K. Padrigalan, "Design and development of a climbing robot for wind turbine maintenance", Applied Sciences-Basel, vol. 11, no. 5, 2021.
[http://dx.doi.org/10.3390/app11052328]
[http://dx.doi.org/10.3390/app11052328]
[66]
D. Mu Xirui, C. Luming, and Z. Huadong, Design and simulation of pipe outer wall robot based on omnidirectional wheel. 2021 4th International Conference on Intelligent Autonomous Systems (ICoIAS), Wuhan, China, 2021, pp. 402-405.
[http://dx.doi.org/10.1109/ICoIAS53694.2021.00078]
[http://dx.doi.org/10.1109/ICoIAS53694.2021.00078]
[67]
Y. Xu, K. He, W. Zhao, H. Fang, Q. Zuo, and Z. Li, A Novel Design of a Wall-Climbing Robot and Experimental Study on Magnetic Wheels2021 International Conference on Computer, Control and Robotics (ICCCR), Shanghai, China, 2021, pp. 60-65.
[http://dx.doi.org/10.1109/ICCCR49711.2021.9349413]
[http://dx.doi.org/10.1109/ICCCR49711.2021.9349413]
[68]
M. Tavakoli, C. Viegas, L. Marques, J.N. Pires, and A.T. de Almeida, "OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures", Robot. Auton. Syst., vol. 61, no. 9, pp. 997-1007, 2013.
[http://dx.doi.org/10.1016/j.robot.2013.05.005]
[http://dx.doi.org/10.1016/j.robot.2013.05.005]
[69]
Y. Zhang, Y. Chen, W. Chu, and F. Jia, Wall Stability Analysis of Marine Wall Climbing Robot. 2021 5th International Conference on Robotics and Automation Sciences (ICRAS), Wuhan, China, 2021, pp. 70-74.
[http://dx.doi.org/10.1109/ICRAS52289.2021.9476277]
[http://dx.doi.org/10.1109/ICRAS52289.2021.9476277]
[70]
L. Ma, B. Tan, J. Shen, W. Liu, and X. Sun, The Study of Pole-climbing Robot. 2010 International Conference on Electrical and Control Engineering, 2010, pp. 2451-2454.
Wuhan, China [http://dx.doi.org/10.1109/iCECE.2010.606]
Wuhan, China [http://dx.doi.org/10.1109/iCECE.2010.606]
[71]
Y. M. Hu, and G. P. Wu, "Research of insulator cleaning and inspection robot for high voltage transmission line", Machine Tool & Hydraulics, vol. 45, no. 05, pp. 1-4+9, 2017.
[72]
W. Yu, "Transmission line insulator cleaning robot with climbing pole function", M. S. thesis, Changsha University of Science & Technology, Hunan, China, 2019.
[73]
J. Luo, The Analysis of Dynamic Characteristics and Structural Design of Pipeline Climbing Robot, M. S. thesis, Wuhan University of Science and Technology, Hubei, China, 2015.
[74]
Z.L. Zhang, J.F. Sun, and L. Hu, "Mechanism design and analysis of screw climbing robot", Machinery, vol. 45, no. 01, pp. 66-71, 2018.
[75]
C.J. Li, H. Shi, B. He, J.Y. Tao, and Y.S. Wang, "A novel pneumatic pole-climbing robot", Chinese Hydraulics & Pneumatics, no. 03, pp. 38-42, 2019.
[76]
Y.J. Cheng, "Anti-slip climbing pole equipment for electric power operation", C. N. Patent 111,203,895, 2021.
[77]
S.L. Li, Y.L. Zhou, G.D. Wang, R. Ding, and L.S. He, "The Design of a Pole-Climbing Robot with Obstacle-crossing Function", Mec. & Electric. Engg. Tech., vol. 49, no. 08, pp. 124-126, 2020.
[78]
Y.W. Liu, J.J. Chao, T. Liu, D.Q. Wang, and K. Xu, "A king of pole climbing robot", 2020. C. N. Patent 112,045,659, 2020.
[79]
H. Khairam, Y.M. Choong, N.S.N. Ismadi, W A F.W. Othman, A A A. Wahab, and S.S.N. Alhady, "Design and development of a low-cost pole climbing robot using Arduino Mega", J. Phys. Conf. Ser., vol. 1969, no. 1, p. 012008, 2021.
[http://dx.doi.org/10.1088/1742-6596/1969/1/012008]
[http://dx.doi.org/10.1088/1742-6596/1969/1/012008]
[80]
G.H. Li, and X. Jia, "2020, A pneumatic pole climbing robot based on pneumatic components", C. N. Patent 212,020,763, 2020.
[81]
J.L. Hu, "Research of pneumatic pole-climbing robot", M. S. thesis, Zhejiang University, Zhejiang, China, 2018.
[82]
Y. Hong, D.M. Zhang, Y.J. Li, W. Chen, and P.W. Dong, "A kind of pneumatic driving mechanism applied to climbing robot.", C. N. Patent 213,765,852, 2021.
[83]
C.R. Wang, W.H. Zhang, E.D. Xia, C.J. Xiong, and J.L. Liu, "A kind of pole climbing robot.", C. N. Patent 212,706,787, 2021.
[84]
Z.L. Ye, T.X. Liu, F.F. Song, T.F. Wang, L.A. Zhang, and C.X. Zhang, "2021 A kind of pole climbing robot.", C. N. Patent 113,119,162, 2021.
[85]
Y. Guan, L. Jiang, H. Zhu, W. Wu, X. Zhou, H. Zhang, and X. Zhang, "Climbot: a bio-inspired modular biped climbing robot—system development, climbing gaits, and experiments", J. Mech. Robot., vol. 8, no. 2, p. 021026, 2016.
[http://dx.doi.org/10.1115/1.4028683]
[http://dx.doi.org/10.1115/1.4028683]
[86]
C.W. Cai, "Control of a Pole Climbing Robot", M. S. thesis, South China University of Technology, Guangdong, China, 2011.
[87]
Z.G. Xiao, Autonomous grasping with a biped climbing robot, M. S. thesis, South China University of Technology, Guangdong, China, 2013.
[88]
J. Hu, Y.S. Guan, P.H. Wu, M.J. Su, and H. Zhang, "Pole pose measurement and autonomous grasping with a biped climbing robot", Robot, vol. 36, no. 05, pp. 569-575, 2014.
[89]
J. Hu, Pole environment detection and autonomous grasping with a biped climbing robot, M. S. thesis, South China University of Technology, Guangdong, China, 2015.
[90]
S.N. Liu, N. Ma, and Q.L. Du, "Design and implementation of small self-adaptive flip climbing robot", J. Jilin Univ., vol. 37, no. 03, pp. 322-331, 2019.
[91]
J. Chen, S. Zhuang, S. Gu, Y. Guan, and H. Zhu, Localization of Biped Pole-Climbing Robots in Spatial Trusses. 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, 2021, pp. 263-268.
[http://dx.doi.org/10.1109/RCAR52367.2021.9517469]
[http://dx.doi.org/10.1109/RCAR52367.2021.9517469]
[92]
I. Golightly, A climbing robot for inspection of electricity pylons., M. S. thesis, University of Wales, Bangor, 2002.
[93]
D.M. Zhang, P.W. Dong, W. Chen, Y.J. Li, and Y. Hong, "A pole climbing robot with automatic recognition of obstacles", C. N. Patent 112,192,615, 2021.
[94]
J.Z. Xiao, M. Minor, H. Dulimarta, N. Xi, R. Mukherjee, and R.L. Tummala, Modeling and control of an under-actuated miniature crawler robot. Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)., Maui, HI, USA, 2001, pp. 1546-1551.
[95]
M. Minor, H. Dulimarta, G. Danghi, R. Mukherjee, R. Lal Tummala, and D. Aslam, Design, implementation, and evaluation of an under-actuated miniature biped climbing robotProceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), Takamatsu, Japan, 2000, pp. 1999-2005.
[http://dx.doi.org/10.1109/IROS.2000.895264]
[http://dx.doi.org/10.1109/IROS.2000.895264]
[96]
R.T. Pack, J.L. Christopher, and K. Kawamura, A Rubbertuator-based structure-climbing inspection robotProceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 1869-1874.
[http://dx.doi.org/10.1109/ROBOT.1997.619060]
[http://dx.doi.org/10.1109/ROBOT.1997.619060]
[97]
S.P. Krosuri, and M.A. Minor, A multifunctional hybrid hip joint for improved adaptability in miniature climbing robots2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Taipei, Taiwan, 2003, pp. 312-317.
[http://dx.doi.org/10.1109/ROBOT.2003.1241614]
[http://dx.doi.org/10.1109/ROBOT.2003.1241614]
[98]
P.F. Zhang, H.G. Wang, L.J. Fang, and Y. Jiang, "Mechanism and kinematics of a novel climbing robot", Robot, no. 01, pp. 12-17, 2007.
[99]
A. Peidró, M. Tavakoli, J.M. Marín, and Ó. Reinoso, "Design of compact switchable magnetic grippers for the HyReCRo structure-climbing robot", Mechatronics, vol. 59, pp. 199-212, 2019.
[http://dx.doi.org/10.1016/j.mechatronics.2019.04.007]
[http://dx.doi.org/10.1016/j.mechatronics.2019.04.007]
[100]
Y. Yao, W. Wang, Y. Qiao, Z. He, F. Liu, X. Li, X. Liu, D. Zou, and T. Zhang, "A novel series-parallel hybrid robot for climbing transmission tower", Ind. Rob., vol. 48, no. 4, pp. 577-588, 2021.
[http://dx.doi.org/10.1108/IR-01-2021-0011]
[http://dx.doi.org/10.1108/IR-01-2021-0011]
[101]
Z.Y. Sun, Z. Sun, S.Q. Wang, and L.J. Kong, "A pole climbing robot with detachable magnetic suction", C. N. Patent 110,588,824, 2019.
[102]
L. Xinrui, G. Denghui, and C. Yuan, "Design and optimization of the magnetic adsorption mechanism of a pipeline-climbing robot", J. Mech. Sci. Technol., vol. 35, no. 11, pp. 5161-5171, 2021.
[http://dx.doi.org/10.1007/s12206-021-1033-y]
[http://dx.doi.org/10.1007/s12206-021-1033-y]
Related Books
Mechanical Engineering Technologies and Applications
Mechanical Engineering Technologies and Applications
Facets of a Smart City: Computational and Experimental Techniques for Sustainable Urban Development
Soft Robotics
Voltammetry for Sensing Applications
Advances in Manufacturing Technologies and Production Engineering
Advances in Additive Manufacturing Processes
Lean Management Solutions for Contemporary Manufacturing Operations
Mechanical Engineering Technologies and Applications
Global Emerging Innovation Summit (GEIS-2021)
