A5026020646- Soft Robotics and Applications
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Power Line Inspection Robots
- Adhesion, Friction, and Surface Interactions
- Muscle activation and electromyography studies
- Advanced Sensor and Energy Harvesting Materials
- Vibration and Dynamic Analysis
- Robotics and Sensor-Based Localization
- Robotic Locomotion and Control
- Tactile and Sensory Interactions
Chinese University of Hong Kong, Shenzhen
2018-2025
Shenzhen Academy of Robotics
2021-2025
ABSTRACT The significance of climbing robotic systems for cable maintenance is escalating in both academic research and real‐world applications. As these are poised deployment, it imperative to develop security rescue mechanisms that ensure robots' intrinsic safety robustness dealing with uncertainty factors. This study presents a novel robot designed platform, manipulator integrated specialized tools, gripper withstand dynamic loads impacts from operations. In addition, we propose the...
This project aims at developing a bio-inspired climbing robotic technology for cable inspection on the cable-stayed bridge. The design and implementation of palm-based robot: CCRobot-II with mass 25 kg, maximal payload 30kg length 1.1 m are described. consists several novel features, including gripping module, alternating-sliding frame specialized high-speed climbing, following wheels. With its carefully designed mechanism, gait trajectory algorithm, is able to crawl along bridge speed 5.2...
This paper presents a novel Cable Climbing Robot CCRobot-III, which is the third version designed for bridge cable inspection tasks, aiming at surpassing previous versions in terms of climbing speed and payload capacity. Benefiting from Split-type Wire-driven design, CCRobot-III can climb along 90-110mm diameter inchworm-like gait up to 12m/min, carrying more than 40kg same time. consists precursor main-body frame. The two parts are connected driven by steel wires. precursor, acting as...
This letter presents CCRobot-IV, the fourth version of a climbing robot designed for bridge cable-inspection tasks. CCRobot-IV inherits design features from previous CCRobot series, and has improved capability crossing cables with obstacles such as helical ribs, small metal accessories, various other obstacles. consists quad-ducted propeller-driven precursor an affiliated payload-carrying body. Because propeller does not depend on friction generated by mutual contact extrusion, precursor's...
In this paper, a novel biologically inspired design for cable climbing robot called CCRobot is presented. It consists of two main components: the gripping module and parallel manipulator. The weight approximately equal to 15 kg, its load capacity at least 30 kg. Its maximum speed more than 3 m/min, which high value in field robot. Moreover, capable performing various actions such as moving along trunk with certain range bending or some obstacles. Numerous on-cable locomotion implementations...
This paper presents CCRobot-V, the fifth version of CCRobot, a cooperative serial multi-robot system for bridge cable inspection and maintenance that uses silkworm-like locomotion to climb entire length super-long stay at high speeds while carrying heavy inspection/maintenance equipment. CCRobot-V consists one climbing precursor robot, several cable-carrying robots, power-tethered guiding system. The pre-cursor robot is "head," which leads affiliated sub-robots along cable. Every sub-robot...
In this paper, a novel mechanical design for cable climbing robot called CCRobot is presented. The capable of attaching on with small range curvature and some obstacles. weight less than 15 kg, its load capacity more 30 kg. Its maximum motion speed 0.05 m/s. grippers are actuated by only two actuators symmetrically. unique mechanism makes the able to attach tightly. With usage worm gearing transmission system, designed also allows zero energy consumption in static gripping. Numerous on-cable...
Abstract Effective sensitivity within a large responding range is crucial parameter of flexible tactile sensors for robot, especially engineering climbing robots under high shear force conditions. While introducing microstructures can improve the sensitivity, in turn, it leads to limited pressure-response due poor structural compressibility. To achieve effective sensing loading forces, sensor needs have hierarchical system and an optimal mechanic design. Herein, we report strategy embedded...
A Flying-type cable climbing robot, CCRobot-IV-F, is presented in this paper. It a precursor of the fourth version CCRobot, designed to surpass abilities previous robots with high speed and obstacle-crossing capability. CCRobot-IV-F weighs less than 10 kg no-load up 4.5 m/s, which significantly exceeds that other robots. dynamic model integrated cable-fixed coordinate system developed, cascaded controller for stabilizing hover climb grippers, when Global Positioning System magnetometer are...