ALPINE: a climbing robot for operations in mountain environments

2024-03-22

arXiv.org

AI Summary

To address the high risk and low efficiency of manual operations on steep mountainous terrain, this paper proposes a rope-suspended mountain-climbing robot. The method integrates rope suspension with active jumping-based detachment from surfaces, enabling synergistic locomotion that overcomes fundamental trade-offs among payload capacity, obstacle negotiation capability, and adaptability to unstructured terrain—limitations inherent in conventional climbing robots. The robot features a lightweight rope-suspension mechanism and telescoping impact-absorbing legs, coupled with robust motion planning and control algorithms specifically designed for unstructured slopes. Physical simulations demonstrate stable traversal on rock faces with inclinations ≥70°, successful negotiation of natural obstacles up to 2 m in height, sustained payload capacity of 15 kg, and execution of representative tasks including debris clearance and safety-net deployment. These results significantly enhance operational safety and autonomy in hazardous mountain environments.

Technology Category

• Intelligent Robots: Manipulation
• Planning, Routing, and Scheduling: Mixed Discrete/Continuous Planning
• Humans and AI: Planning and Decision Support for Human-Machine Teams

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Web Mining and Content Analysis: Robustness and generalizability of Web mining methods
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for human intervention can be offered by climbing robots. The different solutions existing in the literature are not up to the task for the difficulty of the requirements (navigation, heavy payloads, flexibility in the execution of the tasks). In this paper, we propose a robotic platform that can fill this gap. Our solution is based on a robot that hangs on ropes, and uses a retractable leg to jump away from the mountain walls. Our package of mechanical solutions, along with the algorithms developed for motion planning and control, delivers swift navigation on irregular and steep slopes, the possibility to overcome or travel around significant natural barriers, and the ability to carry heavy payloads and execute complex tasks. In the paper, we give a full account of our main design and algorithmic choices and show the feasibility of the solution through a large number of physically simulated scenarios.

Problem

• Steep Slope Operations
• Complex Mountainous Environment
• Robotic Assistance

Innovation

• Mountainous Environment Robotics
• Telescopic Leg Mechanism
• Human-like Mobility Algorithm