Possible Design, Walloid

Nano Tech, possible solution for Walloid ?

We can clearly see in this test that this kind of nano technology can operate carrying heavy weights(an adult human body). If we can be sure that this solution would operate in wet & extremely cold condition, can't this nano technology be a good start for Walloid ?
Source : Ted.com/talks

Possible electronic solution, walloid

The whole idea is based on java program being able to steer the motors through Adruino cards. The java program would be run on an Linux OS on an Eee motherboard. As we have 12 motors for controlling the robot, we would be needing a USB hub with 12 outputs.

Streaming solutions

http://gstreamer.freedesktop.org/

http://en.wikipedia.org/wiki/Real_Time_Streaming_Protocol

Table of Climbing Solutions

Climbing solutions :

Solution	Pros	Cons
Grip, Ring Bolt	Low coast(path), Stable	Path needed, High precision required, Unstable under special condition(under windy situation or even uncalculated torque the robot might loose stability)
Grip, Nail	Low coast(path), Very stable	Path needed, Relatively High precision required
Nano tech, bio inspiered	Path free, Relatively stable(in case of supported weight)	High coast of producing the material, Question regarding weight issue(Some studies show they are reliable), If functional in extreme cold  and wet condition
Lock(IKEA type) itself to the wall	Relatively Low coast(path), Extra stable,	Path needed, High precision required
Suction cup	Easy implementation, Path free	The path should be totally clear and glossy for the solution to work(unstable and fear of robot to fall)
Magnet, pre-path	Low coast(path), Very stable, Path free(Platforms are made of metal variants)	Path needed(depends on the materials that the workspace is made of), Extra power for 4xel. magnets, Unstable in special condition(in case of ice covering the magnet -> in design of platforms up to 10mm ice is considered in calculations)
Magnet, path builder	Very stable, Path builder,	Extra arm for path building, Slow, Exact place on the path can not be screwed too many times, Extra power for 4xel. magnets, Unstable in special condition(in case of ice covering the magnet -> in design of platforms up to 10mm ice is considered in calculations)
Screw itself to the wall	Extra stable	Exact place on the path can not be screwed too many times, Unstable in special condition(in case of ice covering the magnet -> in design of platforms up to 10mm ice is considered in calculations),
?Glue ?	?	?

Early Design, Walloid

The hardware design(X2 Module) designed by my supervisor Mats Høvin. I have to start designing the end effector which will contain the solution for climbing.
Source : robotikk.com

Some wild ideas about climbing feet

Some early wild drawings about how the climbing feet should look like, in case of using ring bolts …

Front feet, climbing robot

Back foot, climbing robot

Suction cup solution ...

Suction cup solution for a climbing robot and some early drawings ...

Suction cup solution

suction cups solution climbing stairs

Introduction

This is my first post here at Walloid Project weblog. This weblog is made to be a place for me to publish my works about my master thesis. Walloid is my master thesis at university of Oslo. A climbing robot that can climb the walls and walk on the roof. The final aim of Walloid is to be a prototype for a real world model that can replace human workers, where it is too dangerous for mankind to operate. The actual thought was to make it even water proof with swimming abilities to make it the best candidate for oil fields in the middle of the sea, in a way that it can swim between different platforms, checks on oil pipes on the way and eventually fix the problems.

Walloid will have several versions which every version would try to reach some expected goals. The version names(C#S#) are the short version of C(limbing)#S(wimming)#. Well the swimming part will not be a part of my master thesis and Walloid C2S0 is the goal for my master project.

• Walloid C1S0 : A remote controlled(through my navigation program) functional walking(on the floor and not the walls or roof) robot.
• Walloid C2S0 : A smart climbing robot which takes its steps autonomously and is controlled totally by the navigation program(monitor its environment by sensors & cameras).
• Walloid C3S0 : A smart climbing robot with image processing abilities.
• Walloid C3S1 : A smart climbing robot with abilities to perform in underwater condition.
• Walloid C3S2 : A waterproof smart climbing robot with swimming abilities.

As said my master project would not exceed Walloid C2S0 and the rest of the plan either will be a hobby/Phd/or even a dream job at an oil field company here in Norway :-)

Wish me lots of luck ...

Shahab.