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OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures |
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| Authors: | Mahmoud Tavakoli Carlos Viegas Lino Marques J. Norberto Pires Aníbal T. de Almeida |
| Affiliation: | 1. Institute for Systems and Robotics, Department of Electrical and Computer Eng., University of Coimbra, Portugal;2. Department of Mechanical Eng., University of Coimbra, Portugal |
| Abstract: | This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of OmniClimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed. |
| Keywords: | Pole climbing robot Ferromagnetic structure Magnetic wheel Omni-directional wheel Inspection Climbing robot Omni-directional climbing |
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