Static Force Analysis of a Climbing Bot With Target Tracking Using WSNs

This paper describes the design process of a climbing bot -”Octo-Climber', which adopts SgI and has the potential to carry a material in a confined space. The main contribution of this paper is static force analysis. However, existing literature related to tracking problem mainly focused on distributed tracking of a single target. It is found that if Octo-Climber is able to successfully transit from a vertical plane to an overhead plane without sliding, it could transit between other planes as well. The proposed techniques are thoroughly investigated in a real indoor environment. In addition, several criteria for choosing relevant data for the positioning purposes have been explored. WSNs is utilized to illustrate the interactions between the robots and its corresponding targets, and represents the connection weight between the robots and targets. The sufficient conditions for both surface transition and static force analysis of the closed-loop system are derived. Finally, algorithms are developed to demonstrate the effectiveness of the main results.