Modular field robot deployment for inspection of dilapidated buildings

Cordie, Troy; Bandyopadhyay, Tirthankar; Roberts, Jonathan; Dunbabin, Matthew; Greenop, Kelly; Dungavell, Ross; Steindl, Ryan

doi:10.1002/rob.21872

Cited by 8 publications

(8 citation statements)

References 15 publications

(21 reference statements)

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“…The ground rescue is to conduct the inspections operations in hazardous area using robotics technologies, which can increase the efficacy while decrease the risks (B. Choi et al, 2019; Cordie et al, 2019; Delmerico et al, 2019). As listed in Table 3, it can be known that in the application field of the ground rescue, the cable‐driven mode and the fluid‐driven mode are the main choices for the soft manipulator.…”

Section: Opportunities and Challenges Of Soft Manipulator In Applicationmentioning

confidence: 99%

A review of soft manipulator research, applications, and opportunities

Chen

Zhang

Huang

et al. 2021

Journal of Field Robotics

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Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related research teams are firstly investigated. The characteristics of different drive modes are compared and analyzed. Based on these investigations, the enabling technologies are systematically summarized in five aspects, such as kinematic and dynamic modeling, motion control, shape detection, dynamic tactile perception, and stiffening method. Currently, the research on soft manipulator has initially formed a technical system, although it is still in the primary stage. With the development of the soft manipulator, its overall technology maturity will be gradually improved. Currently, the applications of the soft manipulator lie mainly in the fields of the ground rescue, the underwater grabbing, the medical operation, the assist maintenance, the man–machine interaction, the space manipulation and so on. The application fields, such as origami soft manipulator, biomimetic soft microrobots, self‐healing soft robot, space soft manipulator and so on, emerge new opportunities and challenges for the soft manipulators.

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Section: Opportunities and Challenges Of Soft Manipulator In Applicationmentioning

confidence: 99%

A review of soft manipulator research, applications, and opportunities

Chen

Zhang

Huang

et al. 2021

Journal of Field Robotics

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“…When a single NeWheel is combined with two passive wheels a tricycle motion model is developed requiring the least power of all the configurations. Previous work carried out with the NeWheel system demonstrated its ability to operate in different configurations and be rapidly redeployed when inspecting dilapidated buildings [32]. The following sections introduce the wheels and controller to demonstrate our proposed strategy possible.…”

Section: Newheel (Any Wheel)mentioning

confidence: 99%

“…It is based around a parametric robot model that once modified propagates through the remainder of the system and generates the controller. Detailed in Cordie et al [32,33] the generated controller calculates a desired body velocity before decomposing this velocity to individual module velocities see Eqs. (1) and (2).…”

Section: Controllermentioning

confidence: 99%

See 1 more Smart Citation

Modular Field Robots for Extraterrestrial Exploration

Cordie

Steindl

Dungavell

et al. 2020

Adv. Astronaut. Sci. Technol.

Self Cite

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Modular design methodology enables rapid reconfigurability for functional changes, robustness to failures and space utilisation for transportation. In the case of planetary exploration robots, there is promise in modular robots that are able to reconfigure themselves for exploration of unknown terrains. This paper presents a design and controller architecture for modular field robots that can be rapidly assembled in a variety of functional configurations. A key challenge of building a functional robot out of modular units is the ability to seamlessly add, remove and replace individual units to enable functional improvements as well as adapt to terrain requirements. We present a representative modular wheel design and a distributed controller architecture able to create a range of bespoke multi-wheeled configurations capable of traversal on a variety of terrains during simulated failure scenarios. The self-contained wheeled unit has energy, computation communication, and actuation modules and does not require any modification or physical customization in the field during deployment enabling a seamless plug and play behaviour. The hierarchical control structure runs a body controller node that decomposes a whole body motion requested from a higher level planner to generate a sequence of actuation goals for each of the modules, while a local controller node running on each of the modules ensures that the desired actuation is adapted to the configuration, load and terrain characteristics.

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“…The MRMs have received growing attention in the robotics field. The MRMs are widely applied in disaster emergency rescue (Cordie et al, 2019), space mission operation (Post et al, 2021), and deep-sea environment detection (Kurumaya et al, 2018). In practical applications, complex external disturbance is variable.…”

Section: Introductionmentioning

confidence: 99%

Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

Dong

Cao

Cui

et al. 2023

Transactions of the Institute of Measurement and Control

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To overcome the mutual constraints between the system chattering and the arrival time in conventional sliding mode control in this paper, a tangent excitation function (tansig) type nonlinear extended state observer (NLESO)-based integral terminal sliding mode control is proposed to solve the trajectory tracking control task of the modular robot manipulators (MRMs) possessing strong coupling and complex time-varying properties. Through the joint torque feedback technology, the MRM system dynamic model is formulated; on this basis, the proposed NLESO based on tansig is utilized to estimate and compensate the system uncertain information, which are consisted of the friction, interconnected dynamic coupling, and external disturbance. The proposed NLESO can simplify the traditional extended state observer design parameters for theoretical analysis and practical application. The proposed tansig-type NLESO-based integral terminal sliding mode control integrated adaptive term exponential reaching law for MRMs is designed to diminish the arrival time when the system state converges to the equilibrium point. The presented algorithm improves the robotic system antidisturbance ability. Furthermore, the Lyapunov theory is utilized to verify stability of the proposed NLESO and closed-loop robotic system. Finally, the availability of the proposed algorithm is demonstrated by experiments.

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Modular field robot deployment for inspection of dilapidated buildings

Cited by 8 publications

References 15 publications

A review of soft manipulator research, applications, and opportunities

A review of soft manipulator research, applications, and opportunities

Modular Field Robots for Extraterrestrial Exploration

Tansig type NLESO-based integral terminal sliding mode control for modular robot manipulators with uncertain disturbance: Theory and experimental verification

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