A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot

Brunete González, Alberto and Torres Matesanz, José Emilio and Hernando Gutiérrez, Miguel and Gambao Galán, Ernesto (2008). A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot. "International Journal of Information Acquisition", v. 5 (n. 2); pp. 111-126. ISSN 0219-8789. https://doi.org/10.1142/S0219878908001533.

Description

Title: A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot
Author/s:
  • Brunete González, Alberto
  • Torres Matesanz, José Emilio
  • Hernando Gutiérrez, Miguel
  • Gambao Galán, Ernesto
Item Type: Article
Título de Revista/Publicación: International Journal of Information Acquisition
Date: June 2008
ISSN: 0219-8789
Volume: 5
Subjects:
Freetext Keywords: Modular, multicon_gurable, heterogeneous, pipe-inspection, behavior-based
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing.

More information

Item ID: 2811
DC Identifier: http://oa.upm.es/2811/
OAI Identifier: oai:oa.upm.es:2811
DOI: 10.1142/S0219878908001533
Official URL: http://www.worldscinet.com/ijia/05/0502/S0219878908001533.html
Deposited by: Memoria Investigacion
Deposited on: 11 May 2010 11:23
Last Modified: 20 Apr 2016 12:27
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