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 Cappelli, Joel & Goktogan, A. |
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Design of a novel climbing robot - CliffRider: the abseiling face inspection robot
Proceedings of CLAWAR, pp. 423-430, Sep, 2011
Presented at 14th International Conference on Climbing and Walking Robots , Paris, France, 06 Sep. - 08 Sep. 2011
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Abstract
CliffRider is a novel robotic system that has the capability of abseiling steep, crater like terrain. The CliffRider system comprises an autonomous single wheeled platform tethered to two winches mounted on the plateau of the cliff of descent. CliffRider is designed for the navigation of open pit mine faces, providing mining engineers with a portable ground based platform that can be fitted with surface inspection instrumentation. Virtual simulations have shown that, stabilisation of CliffRider is achievable provided specific control strategies are employed. Development of the CliffRider functional prototype and unique control strategies are discussed within this paper.
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