Publications by Frédéric Rochat

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Cy-mag3D is a miniature climbing robot with advanced mobility and magnetic adhesion. It is very compact: a cylindrical shape with 28 mm of diameter and 62 mm of width. Its design is very simple: two wheels, hence two degrees of freedom, and an advanced mag ...

In this paper, we describe a miniature climbing robot, 96 x 46 x 64 [mm3], able to climb ferromagnetic surfaces and to make inner plane to plane transition using only two degrees of freedom. Our robot, named TRIPILLAR, combines magnetic caterpillars and ma ...

Industrial plants have an abundance of complex and confined areas that require systematic inspection. Maintenance work is necessary to ensure reliability and safety. In many cases, due to either size limitations or high danger, access is impossible to huma ...

A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It ...

Climbing robots require an adhesion principle in order to overcome gravity. Many physical principles have been used. In this work, the use of thermal glue is proposed. The implementation of miniature thermal glue dispenser is presented with experimental re ...

This paper reports on a 3 years applied research project dealing with several inspection scenarios of power plants and resulting in many robot prototypes and 3 main achievements. The project is a common effort between industry and university, including ALS ...

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled betwee ...

TREMO is a compact magnetic climbing inchworm with the capability to move in complex ferromagnetic environments. The robot fits inside a cylinder of 500 mm in height and 120 mm in diameter for an approximate weight of 800 g. It has a modular configuration ...

We present a miniature magnetic climbing robot with dimensions 96 x 46 x 64mm(3). With two degrees of freedom it is able to climb ferromagnetic surfaces and to make inner plane to plane transitions whatever their inclination is. This robot, named TRIPILLAR ...

A Magnetic Switchable Device (MSD) is a ferromagnetic circuit using permanent magnets where the flux can circulate between different paths when its configuration is changed. This routes or cancels the flux through specific surfaces, and thus turns on or of ...

Cy-Mag3De is a magnetic climbing inspection robot with advanced mobility. It is based on an innovative, award-winning and patented magnetic design. Its mobility is further enhanced thanks to a novel active tail. The robot has a cylindrical shape of 80 mm i ...

Purpose - The purpose of this paper is to present a novel miniature magnetic climbing robot for industrial inspection. The robot has high mobility with low complexity. ...

TUBULO II is a climbing inspection robot with for inner inspection of boiler tubes. Its locomotion principle is the inchworm type. The adhesion is realized with Magnetic Switchable Device [1]. The inner is able to operate within a tube of inner bore diamet ...

Frédéric Rochat

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Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Miniature Magnetic Climbing Inspection Robots

Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes

Climbing robot with thermal glue

Highly Compact Robots for Inspection of Power Plants

Magnetic wheels optimization and application to the MagneBike climbing robot

Tremo: an inspection climbing inchworm based on magnetic switchable device

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Design of Magnetic Switchable Device (MSD) and applications in climbing robot

Cy-mag3De: magnetic climbing inspection robot

Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Tubulo II: magnetic climbing inchworm for inspection of boiler tubes