{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T04:41:34Z","timestamp":1776746494449,"version":"3.51.2"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2011,4,11]],"date-time":"2011-04-11T00:00:00Z","timestamp":1302480000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Safe and cost-efficient inspection of large concrete buildings is a great challenge for mobile robots. This paper presents the locomotion system of the climbing robot,<jats:sc>Cromsci<\/jats:sc>, which uses three steerable standard wheels and negative pressure adhesion. We will introduce criteria to avoid robot slip and tilt, and methods to enhance stability. One elementary part is the close-loop-controlled adhesion system with seven individual negative pressure chambers to balance out tilt or dynamic effects caused by leaky pressure chambers. The second part is the locomotion control using a special traction control mechanism to enhance robot navigation, which will also be presented here.<\/jats:p>","DOI":"10.1017\/s0263574711000294","type":"journal-article","created":{"date-parts":[[2011,5,13]],"date-time":"2011-05-13T08:31:57Z","timestamp":1305275517000},"page":"991-1003","source":"Crossref","is-referenced-by-count":32,"title":["Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot,<scp>Cromsci<\/scp>"],"prefix":"10.1017","volume":"29","author":[{"given":"D.","family":"Schmidt","sequence":"first","affiliation":[]},{"given":"C.","family":"Hillenbrand","sequence":"additional","affiliation":[]},{"given":"K.","family":"Berns","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,4,11]]},"reference":[{"key":"S0263574711000294_ref31","doi-asserted-by":"crossref","unstructured":"31. Zhang H. X. , Wang W. and Zhang J. W. , \u201cHigh Stiffness Pneumatic Actuating Scheme and Improved Position Control Strategy Realization of a Pneumatic Climbing Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) (Feb. 2009) pp. 1806\u20131811.","DOI":"10.1109\/ROBIO.2009.4913276"},{"key":"S0263574711000294_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1598051"},{"key":"S0263574711000294_ref29","doi-asserted-by":"crossref","first-page":"383","DOI":"10.1142\/6521","volume-title":"Climbing and Walking Robots, Towards New Applications","author":"Xiao","year":"2007"},{"key":"S0263574711000294_ref26","doi-asserted-by":"crossref","unstructured":"26. Unver O. , Uneri A. , Aydemir A. and Sitti M. , \u201cGeckobot: A Gecko Inspired Climbing Robot Using Elastomer Adhesives,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (May 2006) pp. 2329\u20132335.","DOI":"10.1109\/ROBOT.2006.1642050"},{"key":"S0263574711000294_ref25","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1002\/rob.20238","article-title":"Biologically inspired climbing with a hexapedal robot","volume":"25","author":"Penko","year":"2008","journal-title":"J. Field Rob."},{"key":"S0263574711000294_ref21","doi-asserted-by":"crossref","unstructured":"21. Prahlad H. , Pelrine R. , Stanford S. , Marlow J. and Kornbluh R. , \u201cElectroadhesive Robots \u2013 Wall Climbing Robots Enabled by a Novel, Robust and Electrically Controllable Adhesion Technology,\u201d Proceedings of the International Conference on Robotics and Automation (ICRA) (May 2008) pp. 3028\u20133033.","DOI":"10.1109\/ROBOT.2008.4543670"},{"key":"S0263574711000294_ref20","volume-title":"Tire and Vehicle Dynamics","author":"Pacejka","year":"2005"},{"key":"S0263574711000294_ref19","doi-asserted-by":"crossref","unstructured":"19. Marx C. , Schmidt D. , Hillenbrand C. and Berns K. , \u201cForce and Traction Controlled Propulsion of the Omnidirectional Wheeled Climbing Robot Cromsci,\u201d Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR) (Sep. 2009) pp. 757\u2013764.","DOI":"10.1142\/9789814291279_0093"},{"key":"S0263574711000294_ref16","doi-asserted-by":"crossref","unstructured":"16. Kim S. , Spenko M. , Trujillo S. , Heyneman B. , Mattoli V. and Cutkosky M. R. , \u201cWhole Body Adhesion: Hierarchical, Directional and Distributed Control of Adhesive Forces for a Climbing Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (Apr. 2007) pp. 1268\u20131273.","DOI":"10.1109\/ROBOT.2007.363159"},{"key":"S0263574711000294_ref13","unstructured":"13. Hillenbrand C. , Sicheres Klettern eines Radgetriebenen Roboters mit Unterdruckkammern an Poroesen Flaechen. Dissertation (University of Kaiserslautern, Germany Nov. 2008)."},{"key":"S0263574711000294_ref12","doi-asserted-by":"publisher","DOI":"10.1108\/01439910810868552"},{"key":"S0263574711000294_ref10","volume-title":"Proceedings of the 37th International Symposium on Robotics (ISR)","author":"Hillenbrand","year":"2006"},{"key":"S0263574711000294_ref5","volume-title":"Fahrwerktechnik: Radschlupf-Regelsysteme","author":"Burckhardt","year":"1993"},{"key":"S0263574711000294_ref4","doi-asserted-by":"crossref","unstructured":"4. Bonaccorso F. , Longo D. and Muscato G. , \u201cModelling of An Innovative Actuator for Climbing Robot Adhesion,\u201d Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR) (Sep. 2009) pp. 891\u2013898.","DOI":"10.1142\/9789814291279_0109"},{"key":"S0263574711000294_ref2","volume-title":"Proceedings of 32nd International Symposium on Robotics (ISR)","author":"Berns","year":"2001"},{"key":"S0263574711000294_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-8348-9334-5"},{"key":"S0263574711000294_ref23","volume-title":"Introduction to Autonomous Mobile Robots","author":"Siegwart","year":"2004"},{"key":"S0263574711000294_ref14","doi-asserted-by":"crossref","unstructured":"14. Jung M. , Schmidt D. and Berns K. , \u201cBehavior-Based Obstacle Detection and Avoidance System for the Omnidirectional Climbing Robot Cromsci,\u201d Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR) (Aug. 2010) pp. 73\u201380.","DOI":"10.1142\/9789814329927_0011"},{"key":"S0263574711000294_ref9","unstructured":"9. Hillenbrand C. and Berns K. , \u201cThe Force Controlled Propulsion and Adhesion System for a Climbing Robot,\u201d Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR) (Sep. 2006a) pp. 158\u2013161."},{"key":"S0263574711000294_ref24","volume-title":"Verhalten von passiv betriebenen Sauggreifern unter der Krafteinwirkung von Kletterrobotern. Dissertation","author":"Simons","year":"2006"},{"key":"S0263574711000294_ref8","doi-asserted-by":"crossref","unstructured":"8. Hayakawa T. , Nakamura T. and Suzuki H. , \u201cDevelopment of a Wave Propagation Type Wall-Climbing Robot Using a Fan and Slider Cranks,\u201d Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR) (Sep. 2009) pp. 439\u2013446.","DOI":"10.1142\/9789814291279_0054"},{"key":"S0263574711000294_ref28","doi-asserted-by":"crossref","unstructured":"28. Wettach J. , Hillenbrand C. and Berns K. , \u201cThermodynamical Modelling and Control of An Adhesion System for a Climbing Robot,\u201d Proceedings of the 20th IEEE International Conference on Robotics and Automation (ICRA) (Apr. 2005) pp. 2727\u20132732.","DOI":"10.1109\/ROBOT.2005.1570526"},{"key":"S0263574711000294_ref1","doi-asserted-by":"crossref","unstructured":"1. Autumn K. , Buehler M. , Cutkosky M. , Fearing R. , Full R. J. , Goldman D. , Groff R. , Provancher W. , Rizzi A. A. , Saranli U. , Saunders A. and Koditschek D. E. , \u201cRobotics in Scansorial Environments,\u201d Proceedings of SPIE \u2013 The International Society for Optical Engineering, Vol. 5804 (2005).","DOI":"10.1117\/12.606157"},{"key":"S0263574711000294_ref27","unstructured":"27. Weise F. , K\u00f6hnen J. , Wiggenhauser H. , Hillenbrand C. and Berns K. , \u201cNon-Destructive Sensors for Inspection of Concrete Structures with a Climbing Robot,\u201d Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR) (Sep. 2001) pp. 945\u2013952."},{"key":"S0263574711000294_ref6","doi-asserted-by":"crossref","unstructured":"6. Elkmann N. , Lucke M. , Kr\u00fcger T. , Kunst D. and St\u00fcrze T. , \u201cKinematics, Sensors and Control of the Fully Automated Facade Cleaning Robot SIRIUSc for the Fraunhofer Headquarters Building Munich,\u201d Proceedings of the 10th International Conference on Climbing and Walking Robots (CLAWAR) (July 2007) pp. 169\u2013176.","DOI":"10.1142\/9789812770189_0021"},{"key":"S0263574711000294_ref11","doi-asserted-by":"crossref","unstructured":"11. Hillenbrand C. , Schmidt D. , Berns K. , Leichner T. , Gastauer T. and Sauer B. , \u201cDevelopment of a Sealing System for a Climbing Robot with Negative Pressure Adhesion,\u201d Proceedings of the 10th International Conference on Climbing and Walking Robots (CLAWAR) (July 2007) pp. 115\u2013124.","DOI":"10.1142\/9789812770189_0015"},{"key":"S0263574711000294_ref18","volume-title":"Taschenbuch der Regelungstechnik","author":"Lutz","year":"2005"},{"key":"S0263574711000294_ref17","unstructured":"17. Luk B. L. , Liu L. and Collie A. , \u201cClimbing Service Robots for Improving Safety in Building Maintenance Industry.\u201d Proceedings of International Conference on Bioinspiration and Robotics: Walking and Climbing Robots (2007) pp. 127\u2013146."},{"key":"S0263574711000294_ref7","doi-asserted-by":"crossref","unstructured":"7. Fischer W. , Tache F. and Siegwart R. , \u201cMagnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles,\u201d Proceedings of the 6th International Conference on Field and Service Robotics (FSR) (July 2007) pp. 551\u2013531.","DOI":"10.1007\/978-3-540-75404-6_53"},{"key":"S0263574711000294_ref15","unstructured":"15. Kim S. , Asbeck A. , Provancher W. and Cutkosky M. R. , \u201cSpinybot II: Climbing Hard Walls with Compliant Microspines,\u201d Proceedings of the IEEE International Conference on Advanced Robotics (ICAR) (July 2005) pp. 601\u2013606."},{"key":"S0263574711000294_ref22","doi-asserted-by":"crossref","unstructured":"22. Shang J. , Bridge B. , Sattar T. P. , Monal S. and Brenner A. , \u201cDevelopment of a Climbing Robot for Inspection of Long Weld Lines,\u201d Proceedings of the 10th International Conference on Climbing and Walking Robots (CLAWAR) (July 2007) pp. 105\u2013114.","DOI":"10.1142\/9789812770189_0014"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000294","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,5]],"date-time":"2025-03-05T14:39:18Z","timestamp":1741185558000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000294\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,4,11]]},"references-count":31,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2011,12]]}},"alternative-id":["S0263574711000294"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000294","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,4,11]]}}}