Control of a climbing robot using real-time convex optimization

Teresa G. Miller, Timothy W. Bretl, Stephen Rock

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a controller for a free-climbing robot. Given a pre-planned path, a loop is closed around desired robot chassis position to generate cartesian feedback forces. A convex optimization problem is then solved in real-time to find a torque input to the robot that will achieve these feedback forces while not exceeding torque limits or violating friction constraints. The effectiveness of this controller is demonstrated both in simulation and with experimental hardware.

Original languageEnglish (US)
Title of host publication4th IFAC Symposium on Mechatronic Systems, MX 2006
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661173
StatePublished - 2006
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Control
  • Control applications
  • Convex optimization
  • Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering

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