The CLAWAR project

In Europe, there are two main thematic groups focusing on robotics, the Climbing and Walking Robots (CLAWAR) project (http://www.clawar.net) and the European Robotics Network (EURON) project (http://www.euron.org). The two networks are complementary: CLAWAR is industrially focused on the immediate needs, and EURON is focused more on blue skies research. This article presents the activities of the CLAWAR project

The CLAWAR project

In Europe, there are two main thematic groups focusing on robotics, the Climbing and Walking Robots (CLAWAR) project (http://www.clawar.net) and the European Robotics Network (EURON) project (http://www.euron.org). The two networks are complementary: CLAWAR is industrially focused on the immediate needs, and EURON is focused more on blue skies research. This article presents the activities of the CLAWAR project

State of the Art Review on Mobile Robots and Manipulators for Humanitarian Demining

Robotics solutions properly sized with suitable modularized structure and well adapted to local conditions of dangerous unstructured areas can greatly improve the safety of personnel as well as the work efficiency, productivity and flexibility. In this sense, mobile systems equipped with manipulators for detecting and locating antipersonnel landmines are considered of most importance towards autonomous/semi-autonomous mine location in a proficient, reliable, safer and effective way. This paper reviews the most relevant literature and previous research activity regarding mobile robots and manipulators for humanitarian demining.Robotics solutions properly sized with suitable modularized structure and well adapted to local conditions of dangerous unstructured areas can greatly improve the safety of personnel as well as the work efficiency, productivity and flexibility. In this sense, mobile systems equipped with manipulators for detecting and locating antipersonnel landmines are considered of most importance towards autonomous/semi-autonomous mine location in a proficient, reliable, safer and effective way. This paper reviews the most relevant literature and previous research activity regarding mobile robots and manipulators for humanitarian demining

Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets in a Field Operation Scenario

In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution to reduce weight, costs, and development time in robotic lanetary missions. With standardized interfaces and multi-functional elements, this modular approach is planned to be used more often in sustainable exploration activities on the Moon and Mars. The German multi-robot research project “Autonomous Robotic Networks to Help Modern Societies (ARCHES)” has explored this concept with the use of various collaborative robotic assets which have their capabilities extended by the MMI. Different scientific payloads, engineering infrastructure modules, and specific purpose tools can be integrated to and manipulated by a robotic arm and a standardized electromechanical docking-interface. Throughout the MMI’s design and implementation phase the performed preliminary tests confirmed that the different systems of the robotic cooperative team such as the Docking Interface System (DIS), the Power Management System (PMS), and the Data Communication System (DCS) functioned successfully. During the summer of 2022 a Demonstration Mission on Mount Etna (Sicily, Italy) was carried out as part of the ARCHES Project. This field scenario allowed the validation of the robotics systems in an analogue harsh environment and the confirmation of enhanced operations with the application of this modular method. Among the numerous activities performed in this volcanic terrain there are the efficient assembling of the Low Frequency Array (LOFAR) network, the energy-saving and reduced complexity of a detached Laser Induced Breakdown Spectroscopy (LIBS) module, and the uninterrupted powered operation between modules when switching between different power sources. The field data collected during this analogue campaign provided important outcomes for the modular robotics application. Modular and autonomous robots certainly benefit from their versatility, reusability, less complex systems, reduced requirements for space qualification, and lower risks for the mission. These characteristics will ensure that long duration and complex robotic planetary endeavours are not as challenging as they used to be in the past

Using Collaborative Robots As A Tool For Easier Programming Of Industrial Robots

Programming industrial robots using traditional jogging via teach pendant is a time-consuming task that requires extensive training. More intuitive and faster task programming is often possible using kinesthetic teaching. Although this feature is available on many commercial collaborative robots, it is rarely available on traditional industrial robots. In this paper we propose a framework for allowing tasks to be instructed using a collaborative robot via kinesthetic teaching, and afterwards deployed to a traditional industrial robot. The frame- work consists of a physical modular concept for robot exchange, and a online programming software tool called Universal Industrial Interface. To assess the framework, a feasibility study is conducted where an industrial relevant task is  rst programmed using a collaborative manipulator, and afterwards deployed on an industrial manipulator

A climbing autonomous robot for inspection application in 3D complex environment

Often inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the “caterpillar” concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.This work has been partially funded by the Spanish government agency CICYT under project TAP95-0088. The authors would like to acknowledge the technical support of A. Jardón, E. Jiménez, C. Palazuelos, J.A. Campo and F. Manera and also the company of APTECA for its help in the mechanical development.Publicad

An Overview of Legged Robots

The objective of this paper is to present the evolution and the state-of-theart in the area of legged locomotion systems. In a first phase different possibilities for mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase an historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones on the technological and scientific progress. After this historical timeline, some of the present day systems are examined and their performance is analyzed. In a third phase are pointed out the major areas for research and development that are presently being followed in the construction of legged robots. Finally, some of the problems still unsolved, that remain defying robotics research, are also addressed.N/

Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius