# Recovery Motion Analysis for False Ceiling Inspection Robot
## 6 Conclusions  
This paper discussed and evaluated the key contributions of both creating and validating a virtual and actual self-righting mechanism implemented in the FalconX robot used in false ceiling inspection for deployment in actual false ceiling sites. These self-righting mechanisms and its force analysis diagram were presented, along with insights into its limitations due to simulation software constraints in terms of material flexibility for the virtual model and niche obstacle layouts in real-life false ceiling conditions. Upon toppling, the robot utilises its rotary-wheeled arms to land itself on its back. It then uses self-righting methods to flip itself over to be right side up using a vertical surface. The derived equations for determining the torque required for self-righting were expressed and analysed, along with the simulated and validated results in real life.  
\begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Scenario** & **Recovery Mechanism** & **Key Features** \\ \hline \multirow{2}{*}{Falls onto its side} & Rounded wheel caps allow rolling to back; rotary wheels and top support wheel form 3-point contact to let the robot flip upright using vertical surface. & \multirow{2}{*}{\(\theta_{3}=12^{\circ}\), offset CG enables roll} \\ \hline \multirow{2}{*}{Falls onto its back edge} & Offset CG causes natural fall to neutral position; rotary wheels help in further motion or overcoming obstacles. & \multirow{2}{*}{\(\theta_{4}=3^{\circ}\), offset CG helps recovery} \\ \hline \multirow{2}{*}{Falls onto its front edge} & Front bumper wheel stops forwards motion; the robot uses rotary wheels as leverage to reverse. & \multirow{2}{*}{\(\theta_{5}=72^{\circ}\), uses reverse + rotary wheels} \\ \hline \multirow{2}{*}{Flipped completely upside down} & Curved top shell and low storage height allow rotary wheels to touch ground; robot moves to vertical surface, pivots and flips upright. & \multirow{2}{*}{\(T_{limit}\geq f_{grid}r=mg\frac{W_{3r}}{H(1-\mu\tan\theta)}\)} \\ \hline \hline \end{tabular}
\end{table}
Table 3: Summary of robot fall scenarios and corresponding recovery mechanisms.  
Future works would entail the addition of other sensors and end-effectors on the robot to detect other maintenance parameters such as humidity or polarised light. The detection add-ons would be needed for checking other parameters (such as using humidity sensors for plumbing leakage or polarised light for checking excessive stress or tension on support structures that cannot be viewed with just a visual camera) within the false ceiling plenum to further automate the inspection process. This information would help greatly in false ceiling rectification works. Considerations can be made in designing specialised sensor mounts for these sensors. The design would determine how FalconX could still self-right with the customised sensor mounts for expanded detection capabilities. A dynamic model can be further developed to make it more accurate for real-world deployments.  
Conceptualisation, M.S.K.Y., Z.Y. and R.E.M.; methodology, M.S.K.Y. and Z.Y.; software, Z.Y.; validation, M.S.K.Y. and Z.Y.; formal analysis, S.M.B.P.S.; investigation, M.S.K.Y. and Z.Y.; resources, R.E.M.; data curation, S.M.B.P.S.; writing--original draft preparation, M.S.K.Y. and Z.Y.; writing--review and editing, S.M.B.P.S.; visualisation, M.S.K.Y. and Z.Y.; project administration, R.E.M.; funding [PERSON], R.E.M. All authors have read and agreed to the published version of the manuscript.  
This research was supported by the National Robotics Programme under its National Robotics Programme (NRP) BAU, Ermine III: Deployable Reconfigurable Robots, Award No. M22 NBK0054, and by A*STAR under its \"RIE2025 IAF-PP Advanced ROS2-native Platform Technologies for Cross sectorial Robotics Adoption (M21K1a0104)\" programme.  
Not applicable.  
No new data were created or analysed in this study. Data sharing is not applicable to this article.  
The authors declare no conflicts of interest.