Hypermobile Robots – the Survey

Granosik, Grzegorz

doi:10.1007/s10846-013-9985-5

Cited by 22 publications

(6 citation statements)

References 42 publications

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“…Remark 2: Although our trajectory generation method was applied to a snake robot, the method can also be applied to hypermobile robots whose heads can be arbitrarily controlled [45].…”

Section: E Optimization Problemmentioning

confidence: 99%

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy

Kon

Tanaka

2016

IEEE Trans. Contr. Syst. Technol.

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We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method.Index Terms-Mixed integer programming (MIP), sensing strategy, snake robot, step climbing, trajectory generation. 1063-6536

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“…Remark 2: Although our trajectory generation method was applied to a snake robot, the method can also be applied to hypermobile robots whose heads can be arbitrarily controlled [45].…”

Section: E Optimization Problemmentioning

confidence: 99%

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy

Kon

Tanaka

2016

IEEE Trans. Contr. Syst. Technol.

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“…(2) This robot can switch between three motion patterns (normal, variable speed, and turning) by controlling variable pitch adjusting mechanism. (3) The kinematics of the proposed variable pitch helical drive in-pipe robot is analysed by comparing with the kinematics of a typical constant pitch screw drive inpipe robot, and the space spiral trajectories of the two types of robot are drawn.…”

Section: Turning Motionmentioning

confidence: 99%

Variable Pitch Helical Drive in-Pipe Robot

Ren

Liu²,

Chen

et al. 2016

International Journal of Robotics and Automation

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Pipelines are extensively used to transport water, oil, and gas for daily human activities and industrial production. An in-pipe robot is necessary to prevent fluid leakage accident by regularly detecting the quality status of a pipeline. Given the complex paths and shapes of pipes, an in-pipe robot cannot easily pass through curved pipes. In this study, a novel variable pitch helical drive in-pipe robot is introduced. The variable pitch adjusting mechanism makes switching the robot between three motion patterns (normal, variable speed, and turning) easy. The proposed robot can pass through curved pipes actively by controlling the helical angle of each driving wheel separately. The space spiral kinematic trajectories of the passive typical and the active novel helical in-pipe robots are compared. A prototype is developed to verify the validity of the proposed structure and function.

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“…There are other semi-autonomous robots KARO [19] and the Pearl Rover [20] robot for pipe and inwater inspections, respectively. KURT [21], MAKRO [22], and KANTARO [23] are the un-tethered autonomous robots, that carry all required equipment on-board, and inspect sewers and pipelines [24]. Baghani et al, developed a robot, called University of Tehran-Pole Climbing Robot (UT-PCR) to climb and inspect vertical and inclined pipes, chimneys [25].…”

Section: Introductionmentioning

confidence: 99%

Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

et al. 2020

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Nature has always been an inspiration for engineers and designers to have technological inventions. The postures, locomotion and gait cycles of animals are usually smooth, dynamically stable, and highly adaptable in an unknown terrain. Based on a giraffe's leg folding pattern, we develop a quadruped hybrid drain mapping robot with modular subsystems , four bar inversion mechanism based legs and bi-directional rolling wheel, named, Tarantula-II. The platform undergoes self-reconfiguration and achieves variable height and width, which in turn helps in navigation in a drain with multiple level-shifts. This paper describes the key features of giraffe's limb, how the folding pattern of the limbs are implemented in the robot design. In addition, we discuss the detailed mechanical design of platform, the kinematics analysis of each leg, kinematics of the platform with respect to wheels, and structural analysis of the platform under different gait condition. Applying the kinematics formulation and posture correction algorithm, we verify the mobility and level shifting capability of the platform both in lab setting and drain environment.

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Hypermobile Robots – the Survey

Cited by 22 publications

References 42 publications

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy

Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy

Variable Pitch Helical Drive in-Pipe Robot

Design of a Self-Reconfigurable Drain Mapping Robot With Level-Shifting Capability

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