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Article
Publication date: 1 July 2006

Brett Kennedy, Avi Okon, Hrand Aghazarian, Mircea Badescu, Xiaoqi Bao, Yoseph Bar‐Cohen, Zensheu Chang, Borna E. Dabiri, Mike Garrett, Lee Magnone and Stewart Sherrit

Introduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution…

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Abstract

Purpose

Introduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution of contact forces during motion to ensure holds remain intact and to enable mobility through over‐hangs. Efforts also can be applied to further in‐situ characterization of the terrain, such as testing the strength of the holds and developing models of the individual holds and a terrain map.

Design/methodology/approach

A free climbing robot system was designed and integrated. Climbing end‐effector were investigated and operational algorithms were developed.

Findings

A 4‐limbed robotic system used to investigate several aspects of climbing system design including the mechanical system (novel end‐effectors, kinematics, joint design), sensing (force, attitude, vision), low‐level control (force‐control for tactile sensing and stability management), and planning (joint trajectories for stability). A new class of Ultrasonic/Sonic Driller/Corer (USDC) end‐effectors capable of creating “holds” in rock and soil as well as sampling those substrates.

Practical implications

Planetary exploration of cliff faces. Search and rescue in steep terrain. Robotic scouting and surveillance in natural environments.

Originality/value

The technologies developed on this platform will be used to build an advanced system that will climb slopes up to and including vertical faces and overhangs and be able to react forces to maintain stability and do useful work (e.g. sample acquisition/instrument placement).

Details

Industrial Robot: An International Journal, vol. 33 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 20 June 2016

Rui Wang and Youhei Kawamura

The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted…

777

Abstract

Purpose

The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force.

Design/methodology/approach

The robot has the main advantages of being compact (352 × – 215 × – 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners.

Findings

The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented.

Originality/value

Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.

Details

Industrial Robot: An International Journal, vol. 43 no. 4
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 23 July 2020

Sandeep Garg and Tarun Kumar Gupta

This paper aims to propose a new fin field-effect transistor (FinFET)-based domino technique low-power series connected foot-driven transistors logic in 32 nm technology and…

257

Abstract

Purpose

This paper aims to propose a new fin field-effect transistor (FinFET)-based domino technique low-power series connected foot-driven transistors logic in 32 nm technology and examine its performance parameters by performing transient analysis.

Design/methodology/approach

In the proposed technique, the leakage current is reduced at footer node by a division of current to improve the performance of the circuit in terms of average power consumption, propagation delay and noise margin. Simulation of existing and proposed techniques are carried out in FinFET and complementary metal-oxide semiconductor technology at FinFET 32 nm technology for 2-, 4-, 8- and 16-input domino OR gates on a supply voltage of 0.9 V using HSPICE.

Findings

The proposed technique shows maximum power reduction of 77.74% in FinFET short gate (SG) mode in comparison with current-mirror-based process variation tolerant (CPVT) technique and maximum delay reduction of 51.34% in low power (LP) mode in comparison with CPVT technique at a frequency of 100 MHz. The unity noise gain of the proposed circuit is 1.10× to 1.54× higher in comparison with different existing techniques in FinFET SG mode and 1.11× to 1.71× higher in FinFET LP mode. The figure of merit of the proposed circuit is up to 15.77× higher in comparison with existing domino techniques.

Originality/value

The research proposes a new FinFET-based domino technique and shows improvement in power, delay, area and noise performance. The proposed design can be used for implementing high-speed digital circuits such as microprocessors and memories.

Details

Circuit World, vol. 47 no. 4
Type: Research Article
ISSN: 0305-6120

Keywords

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