Design and Performance of the Portsmouth Climbing Robot

Abstract

Design and Performance of the Portsmouth Climbing Robot A A Collie, J Billingsley, E von Puttkamer Pages 16-23 (1990 Proceedings of the 7th ISARC, Bristol, United Kingdom, ISSN 2413-5844) Abstract: The Portsmouth climbing robot, robug II is a prototype research vehicle designed to demostrate the feasibility of an articulated-limb climbing machine. Its architecture mirrors the structure of an insect. A central body which will support inspection or other equipment is carried to the required location by four(or more) fully articulated legs. These are mounted at the corners of the body and suspend it clear of the surface. Each leg has a suction cup foot powered by an ejector vacuum pump. Additional suction feet are fitted to the body so that it may be locked in place while inspection is taking place, or between paces where the terrain is difficult. Intelligence is distributed, each leg being provided with individual microprocessor control. Foothold is tested before weight is transferred. The legs are able to step over obstructions and negotiate changes in level. Keywords: No keywords DOI: https://doi.org/10.22260/ISARC1990/0003 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley