The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 × 250 × 140 mm modular, untethered hybrid hard/soft robot—Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces.

中文翻译：

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Limpet II：模块化、无束缚的软机器人

导航复杂的非结构化环境和执行检查任务的能力要求机器人能够攀爬倾斜表面并配备传感器有效载荷。这些功能对于用于检查和监控海上能源平台的机器人来说是理想的。现有的攀爬机器人大多使用刚性执行器，而使用软执行器的机器人还没有完全摆脱束缚。当前攀爬机器人的另一个主要问题是它们不是以模块化方式构建的，这使得系统更难适应新任务、修复系统以及更换和重新配置模块。这项工作展示了一个 450 g 和一个 250 × 250 × 140 mm 模块化、无束缚的混合硬/软机器人 — Limpet II。Limpet II 使用混合电磁模块作为其核心模块，以实现附着力和运动能力。粘附能力基于利用吸盘的负压粘附。运动能力基于滑杆运动。Limpet II 还具有具有九种不同传感模式的传感器有效载荷，可用于检查和监测海上结构及其周围的条件。由于 Limpet II 设计为模块化系统，因此可以重新配置模块以实现多项任务。为了展示其检查海上平台的潜力，我们展示了 Limpet II 能够响应不同的感官输入、在其环境中重新定位、粘附由不同材料制成的结构以及攀爬倾斜表面。Limpet II 还具有具有九种不同传感模式的传感器有效载荷，可用于检查和监测海上结构及其周围的条件。由于 Limpet II 设计为模块化系统，因此可以重新配置模块以实现多项任务。为了展示其检查海上平台的潜力，我们展示了 Limpet II 能够响应不同的感官输入、在其环境中重新定位、粘附由不同材料制成的结构以及攀爬倾斜表面。Limpet II 还具有具有九种不同传感模式的传感器有效载荷，可用于检查和监测海上结构及其周围的条件。由于 Limpet II 设计为模块化系统，因此可以重新配置模块以实现多项任务。为了展示其检查海上平台的潜力，我们展示了 Limpet II 能够响应不同的感官输入、在其环境中重新定位、粘附由不同材料制成的结构以及攀爬倾斜表面。