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Brunete González, Alberto ORCID: https://orcid.org/0000-0001-9873-232X, Torres Matesanz, José Emilio, Hernando Gutiérrez, Miguel
ORCID: https://orcid.org/0000-0001-9997-0266 and Gambao Galán, Ernesto
ORCID: https://orcid.org/0000-0003-1705-1800
(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.
Title: | A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot |
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Author/s: |
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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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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.
Item ID: | 2811 |
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DC Identifier: | https://oa.upm.es/2811/ |
OAI Identifier: | oai:oa.upm.es:2811 |
DOI: | 10.1142/S0219878908001533 |
Official URL: | http://www.worldscinet.com/ijia/05/0502/S021987890... |
Deposited by: | Memoria Investigacion |
Deposited on: | 11 May 2010 11:23 |
Last Modified: | 20 Apr 2016 12:27 |