SkySweeper: A low DOF, dynamic high wire robot

@article{Morozovsky2013SkySweeperAL,
  title={SkySweeper: A low DOF, dynamic high wire robot},
  author={Nicholas Morozovsky and Thomas R. Bewley},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={2339-2344}
}
SkySweeper is a mobile robot designed to operate in an environment of cables, wires, power lines, ropes, et cetera. The robot is comprised of two links pivotally connected at one end; a series elastic actuator at this “elbow” joint can actuate relative rotation between the two links. At the opposite end of each link is an actuated three-position clamp. The clamp can either be open, partially closed, such that the clamp can roll (translate) along the cable, or fully closed, such that the clamp… CONTINUE READING

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