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Pipe Climbing Robot TAOYAKA VII Simplified Control of Grasping Force Using a Current Sensor

Authors:
Saya Eguchi
Kazuyuki Ito

Keywords: climbing robot; flexible mechanism; passive mechanism; bio-inspired robot; octopus-like robot

Abstract:
This paper presents a bioinspired pipe-climbing robot that can grasp various columnar objects with unknown shapes by utilizing a passive mechanism. Through this proposed passive mechanism, the arm replicates octopus-like behavior, allowing it to conform to unknown objects without sensing their shape. In this paper, we improved our previous robot and installed current sensors to measure the motor current and estimate the grasping force. Using the current information, the robot controls the grasping force and climbs various columnar objects with different shapes. To demonstrate the effectiveness of the proposed robot, an improved version was developed, and experiments were conducted. As a result, we confirmed that the proposed system works well and that the robot could grasp various unknown-shaped objects using a preset grasping motor current.

Pages: 21 to 26

Copyright: Copyright (c) IARIA, 2025

Publication date: March 9, 2025

Published in: conference

ISSN: 2308-3913

ISBN: 978-1-68558-241-8

Location: Lisbon, Portugal

Dates: from March 9, 2025 to March 13, 2025