On Adhesion Modeling and Control of a Vortex Actuator for Climbing Robots

In this article, the critical adhesion force and achievable payload of a Vortex Actuator (VA) are analyzed under 3-DOF surface rotations. A model-based control scheme is later proposed, with the goal of maintaining VA adhesion when immobilized, while limiting the power consumption and counteracting disturbances leading to Center-of-Mass (CoM) variations. Finally, the model-based control scheme is experimentally evaluated with the VA prototype on a flat surface under linear motions and rotations, thus supporting the incorporation of the VA in Climbing Robots (CRs) for inspection and maintenance of both stationary and moving surfaces.