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Proceedings Paper

Dual-durometer soft suction foot robot for concrete inspection
Author(s): Dryver Huston; Dylan Burns; John Gardner-Morse; Paul Montane; Enrique Angola
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Paper Abstract

Climbing on concrete, masonry and brick with automated machines is difficult due to the uneven surfaces that prevent getting a good grip. This paper describes developments in using dual-durometer pneumatic suction feet for gripping onto concrete surfaces as part of a multi-legged robotic climbing system for inspecting concrete structures with vertical walls. The dual durometer technique presents a compliant suction tip to the concrete thereby producing a good seal against an irregular surface, and stiff component to deliver the structural rigidity needed for walking and climbing. Individually actuated pneumatic Venturi vacuum generators provide the suction from positive pneumatic pressure in a manner that is robust against leaks that cause the systemic vacuum collapse that can plague other vacuum configurations. The feet are attached to a six-legged robot that with a nominal floor walking capability and gait. Climbing a wall requires modification to leg actuation and gait, along with suction feet. System design, integration, concrete wall climbing performance and sensor deployment in the form of a lightweight ground penetrating radar system are presented.

Paper Details

Date Published: 28 March 2014
PDF: 10 pages
Proc. SPIE 9064, Health Monitoring of Structural and Biological Systems 2014, 90642Q (28 March 2014); doi: 10.1117/12.2046596
Show Author Affiliations
Dryver Huston, The Univ. of Vermont (United States)
Dylan Burns, The Univ. of Vermont (United States)
John Gardner-Morse, The Univ. of Vermont (United States)
Paul Montane, The Univ. of Vermont (United States)
Enrique Angola, The Univ. of Vermont (United States)

Published in SPIE Proceedings Vol. 9064:
Health Monitoring of Structural and Biological Systems 2014
Tribikram Kundu, Editor(s)

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