A trajectory tracking control of a skid steer type mobile robot for vertical walls

Yoshio Katsuki, Takeshi Ikeda, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review


Wall-climbing robots can be used for various dangerous works such as painting, inspecting and cleaning of vertical walls instead of human workers. The typical wall-climbing robots use a magnet or a vacuum suction device for travelling on the vertical wall. For a reliable and an efficient work, the robots should follow a desired path accurately. However, gravitational effect makes lower the performance of the trajectory control for the case of travelling on the vertical wall. In this paper, a trajectory tracking control law for a skid steer type wall-climbing robot is proposed considering the gravitational effect. The control law is a non-linear feedback one with compensation of gravity and wheels' rolling resistance. It is shown that a tracking error converges to zero using Lyapunov method. A window cleaning robot is used for an experiment of the trajectory tracking control. The experimental results confirm the validity of the proposed control method.

Original languageEnglish
Pages (from-to)3051-3057
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number771
Publication statusPublished - Nov 2010

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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