Lucio Sgrigna

State estimation and path following on curved and flat vertical surfaces with Omniclimber robots: Kinematics and control

Omnidirectional wheels used on Omniclimber inspection robot and in other robots enable a holonomic drive and a good maneuverability. On the other hand, they have a poor wheel traction and suffer from vertical and horizontal vibration, decreasing the trajectory following accuracy of the robot. In thi…