000165651 001__ 165651
000165651 005__ 20180913060621.0
000165651 020__ $$a978-981-4374-27-9
000165651 037__ $$aCONF
000165651 245__ $$aTremo: an inspection climbing inchworm based on magnetic switchable device
000165651 269__ $$a2011
000165651 260__ $$bWorld Scientific$$c2011
000165651 336__ $$aConference Papers
000165651 520__ $$aTREMO is a compact magnetic climbing inchworm with the capability to move in complex ferromagnetic environments. The robot fits inside a cylinder of  500 mm in height and  120 mm in diameter for an approximate weight of  800 g. It has a modular configuration based on three energy autonomous sub-systems: an arm and two feet. The arm has five degrees of freedom. It has a central articulation with a stroke of 270°. Both ends of the arm have an innovative articulation based on a differential system. This allows unlimited rotation of  360° in the heading angles and 180° in the elevation angle. At both ends of the arm a camera is mounted. The feet are donut-shaped and are mounted around the camera. The climbing ability is based on the advantageous properties of Magnetic Switchable Devices (MSD) [1]. Each feet of the robot embeds three MSD for better compliance and stability of the adhesion to the surface. The three MSD of one feet together with their motors weight  32 g and can hold above 90 N.
000165651 6531_ $$a[MOBOTS]
000165651 6531_ $$amagnetic
000165651 6531_ $$aadhesion
000165651 6531_ $$amagnetic adhesion
000165651 6531_ $$amagnetic switchable device
000165651 6531_ $$ainchworm
000165651 6531_ $$aclimbing
000165651 6531_ $$arobot
000165651 6531_ $$ainspection
000165651 700__ $$0242145$$aRochat, Frédéric$$g154775
000165651 700__ $$0242154$$aBeira, Ricardo$$g183554
000165651 700__ $$0240027$$aBleuler, Hannes$$g104561
000165651 700__ $$0240589$$aMondada, Francesco$$g102717
000165651 7112_ $$aClimbing and Walking Robots (CLAWAR)$$cParis$$dSeptember 6 – 8, 2011
000165651 773__ $$q421-428$$tField Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
000165651 909C0 $$0252016$$pLSRO
000165651 909CO $$ooai:infoscience.tind.io:165651$$pconf$$pSTI
000165651 917Z8 $$x154775
000165651 917Z8 $$x102717
000165651 917Z8 $$x102717
000165651 917Z8 $$x102717
000165651 937__ $$aEPFL-CONF-165651
000165651 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000165651 980__ $$aCONF