Navigation’s Stabilization System of a Magnetic Adherence-Based Climbing Robot

Research paper by Rodrigo Valério Espinoza, André Schneider de Oliveira, Lúcia Valéria Ramos de Arruda, Flávio Neves Junior

Indexed on: 05 Jul '14Published on: 05 Jul '14Published in: Journal of Intelligent & Robotic Systems


This paper presents a climbing robot based on wheel locomotion and magnetic adherence. The proposed mechanical design stands on four unaligned magnetic wheels disposed in two parallel axes, which provides a great advantage when passing over obstacles. The goal of the robot is to perform internal/external inspection in liquefied petroleum gas (LPG) storage tanks and other industrial storage structures. Thus, there are a few of severe operation features (like adherence and force balance) that impose hard conditions to robot’s navigation. To satisfy these conditions, a dynamic control system was developed in two modules: active gravitational compensation system and adherence stabilization system. Simulated and experimental tests were carried out in order to verify the satisfaction of mechanical constraints and to validate the control system performance.