Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion
Most of the developed and studied service robots for vertical locomotion, as visual inspection, are made up by a rigid body with legs, wheels, or both. Thus, the robot can only displace over regular and/or flat surfaces since it is not able to adapt to the irregularities and projections of the wall....
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/6/79 |
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| author | Ernesto Christian Orozco-Magdaleno Eduardo Castillo-Castañeda Omar Rodríguez-Abreo Giuseppe Carbone |
| author_facet | Ernesto Christian Orozco-Magdaleno Eduardo Castillo-Castañeda Omar Rodríguez-Abreo Giuseppe Carbone |
| author_sort | Ernesto Christian Orozco-Magdaleno |
| collection | DOAJ |
| description | Most of the developed and studied service robots for vertical locomotion, as visual inspection, are made up by a rigid body with legs, wheels, or both. Thus, the robot can only displace over regular and/or flat surfaces since it is not able to adapt to the irregularities and projections of the wall. Therefore, this paper presents the design and analysis of an adaptable robot for vertical locomotion service tasks, which has a body made up of four wheeled legs that can easily adapt to the different irregularities and projections of building facades. The robot uses an Electric Ducted Fan (EDF) as the vortex adhesion system. Each leg has a rubber cover, which allows a higher mechanical adaptability of the robot over different irregularities of the wall. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as mechanical adaptability modeling as well as kinematic and static analysis. Laser sensors are mounted over the robot to measure the adaptability of the robot, between the legs and body, at each time of the experimental tests for vertical locomotion. |
| format | Article |
| id | doaj-art-5442cc7f54f246b58d1f1432f1538d3f |
| institution | OA Journals |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-5442cc7f54f246b58d1f1432f1538d3f2025-08-20T02:21:53ZengMDPI AGRobotics2218-65812025-06-011467910.3390/robotics14060079Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical LocomotionErnesto Christian Orozco-Magdaleno0Eduardo Castillo-Castañeda1Omar Rodríguez-Abreo2Giuseppe Carbone3Escuela de Ingeniería, Universidad Anáhuac Querétaro, Querétaro 76246, MexicoCentro de Investigación en Ciencia Aplicada y Tecnología Avanzada Unidad Querétaro, Instituto Politécnico Nacional, Querétaro 76090, MexicoFacultad de Ingeniería, Universidad Autónoma de Querétaro, Santiago de Querétaro 76240, MexicoDIMEG, University of Calabria, 87036 Cosenza, ItalyMost of the developed and studied service robots for vertical locomotion, as visual inspection, are made up by a rigid body with legs, wheels, or both. Thus, the robot can only displace over regular and/or flat surfaces since it is not able to adapt to the irregularities and projections of the wall. Therefore, this paper presents the design and analysis of an adaptable robot for vertical locomotion service tasks, which has a body made up of four wheeled legs that can easily adapt to the different irregularities and projections of building facades. The robot uses an Electric Ducted Fan (EDF) as the vortex adhesion system. Each leg has a rubber cover, which allows a higher mechanical adaptability of the robot over different irregularities of the wall. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as mechanical adaptability modeling as well as kinematic and static analysis. Laser sensors are mounted over the robot to measure the adaptability of the robot, between the legs and body, at each time of the experimental tests for vertical locomotion.https://www.mdpi.com/2218-6581/14/6/79adaptable robotvertical locomotionmechanical adaptabilityservice tasks |
| spellingShingle | Ernesto Christian Orozco-Magdaleno Eduardo Castillo-Castañeda Omar Rodríguez-Abreo Giuseppe Carbone Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion Robotics adaptable robot vertical locomotion mechanical adaptability service tasks |
| title | Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion |
| title_full | Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion |
| title_fullStr | Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion |
| title_full_unstemmed | Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion |
| title_short | Design and Analysis of an Adaptable Wheeled-Legged Robot for Vertical Locomotion |
| title_sort | design and analysis of an adaptable wheeled legged robot for vertical locomotion |
| topic | adaptable robot vertical locomotion mechanical adaptability service tasks |
| url | https://www.mdpi.com/2218-6581/14/6/79 |
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