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By L. Marques, A. De Almeida, M. O. Tokhi, G. S. Virk

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1 sec. Q =50cln) (el Control effort, volts Fig. 1 sec, Q =50cln) 36 (a) IE tilt angle, deg (a) Cart euergy, Nm j 100 tlHle, IS\) ~cc (b) Control effort, volts (b) IE euergy, Nrn Fig. 1 sec, Q =15crn) (e) Vehicle energy, Nm (a) IE tilt angle, deg (d) Payload energy, Nrn (b) Control effort, volts }'ig. 2 sec, Q =50crn) Fig. 1. Effect of Different Disturbance Levels It can be seen from Figures 4(a) and 5(a) that the higher the level of the disturbance force the higher the fluctuation of the rod angle from the upright position and the longer it takes the IB to balance at the upright position.

30. M. P. Murphy and M. Sitti. Waalbot, "An agile small-scale wall climbing robot utiiizing dry elastomer adhesives", IEEE/ASME Transactions on Mechatronics, 12(3), pp. 330-33S, 2007. 31. K. Autumn and A. lOS1-1090, 2002. 32. Autumn, "BiologicalAdhesives", vol. XVII. Berlin,Germany: Springer-Verlag, 2006. 33. K. Asano, S. Aonuma and F. Hatakeyama, "Fundamental Study of an Electrostatic Chuck for Silicon Wafer Handling", IEEE Trans. on Industrial Applications, Vol. 3, May/June 2002. 34. html 35.

Hillenbrand, D. Schmidt, K. Berns, T. Leichner, T. Gastauer, B. 115-124, July 16-18, 2007. 15. Pan Peilin,Wang Yan , "The Sealing Property of the Sucking Disc for the Wall-climbing Robot", Robot. 4, 1996, pp. 217-220. 16. D. Longo, G. Muscato, "The Alicia3 climbing robot for automatic wall inspection", IEEE Robotics and Automation Magazine, Vol. l, pp. 42-50, March 2006. 17. sid= 186 18. com 19. C. Grieco, M. Prieto, M. Armada, P. Gonzales de Santos, "A SixLegged Climbing Robot for High Payloads", Proc.

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