Experimental Study and Modeling of Sloshing in a False Ceiling Robot

Manual inspection of inaccessible, narrow, and confined locations of the false ceiling is tedious, time consuming and unsafe. Addressing these issues, firstly, a compact quadruped robot was developed to assist human while inspecting the false ceiling. The robot detects the pest habitat in the false ceiling and spray insecticides in the pest habitat. Secondly, while carrying insecticide in the container, the complex maneuverability of the platform can cause sloshing motion. Several experimental studies were carried out to visualize the sloshing motion. Based on the experimental results, the authors claim that both forward and later happens in this quadruped robot when the platform moves at slower speed and the container has less amount of liquid. Hence, it is essential to study the effect of slosh, incorporate the sloshing model in the robot modeling and this paper presents a coupled robot-slosh model of the legged robot, which can further used for stability analysis and designing appropriate controller to nullify the slosh effect for trajectory tracking.