Control System Design and Realization of Wet Adhesion Wallclimbing Biorobot

Abstract:

Hexapod wallclimbing biorobot based on wet adhesion principle is characterized by a complex structure with more control outputs and being more difficlt to coordinate the action.Based on bionic principles,a hierarchical control system and its design were proposed,the design was verified with experiments.Based on Saridis’ hierarchical intelligent control theory in combination with pratical control requirements,a special hierarchical control system suitable for this wet adhesion wallclimbing robot was established;then,control levels of this robot were precisely introduced,and designs of main levels were analyzed.Experiment results show that this system can meet the wallclimbing control requirements of the robots,and it can also control a good contact between the robot’s limb ends and the climbing surface.Further more,rhythmic motion offers faster action implementations,and the hierarchical modular design is conducive to the further expansion of the robot’s control system.

Key words:wallclimbing robot; resistance control; rhythm control; tripod gait