SIEN: Telescopic-Arm Climbing-Support Robot

Abstract

SIEN represents a novel safety measure concept in making climbing service robots feasible, e.g., in keeping them from falling off a wall due to concavity, convexity, or insufficient adhesion. The wall climbing-support robot SIEN we developed uses a telescopic arm to support itself. The arm has a joint with sensors to detect robot speed and direction of movement. SIEN follows and supports the climbing robot based on feedback using detected force. SIEN enabled the robot to climb walls reliably and safely, as demonstrated in experimental results.