SIEN: Telescopic-Arm Climbing-Support Robot | Zendy

Tomoyuki Yamaguchi | Zendy; Yoshiaki Sorioka | Zendy; Sunhong Park | Zendy; Shuji Hashimoto | Zendy

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SIEN: Telescopic-Arm Climbing-Support Robot

Author(s) -

Tomoyuki Yamaguchi,

Yoshiaki Sorioka,

Sunhong Park,

Shuji Hashimoto

Publication year - 2009

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2009.p0621

Subject(s) - robot , climbing , climb , computer science , simulation , artificial intelligence , engineering , structural engineering , aerospace engineering

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.

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