ROMA robots for inspection of steel based infrastructures

Abstract

The robotics laboratory of the Universidad Carlos III of Madrid has developed the ROMA climbing robots, which are able to travel along 3D complex environments to carry out inspection tasks. The ROMA robots family is able to self‐support its locomotion system and moves in a similar way to a caterpillar. During this motion the robots generate in real‐time an optimal path and grasp planning in order to ensure a stable self‐support and avoid obstacles in the environment. In order to move the robots in a teleoperated or automatic way a man‐machine interface has been developed. The robots were developed primarily for use during the inspection of complex metallic structures. There are a large number of operations to be performed on metallic structures such as those encountered in bridges, oil rigs and building skeletons which represent a danger for human operators. Nevertheless, they are not limited to these structures due to fact that they are equipped with the necessary tools for new environments like concrete.

A Modular Concept for a Biologically Inspired Robot

“…If we neglect substrate contact, we find the same principles as in terrestrial locomotion. Only one additional method is shown in [10]. In comparison to [9], the methods can be classified into…”

Briefing: UK-RAS white paper in robotics and autonomous systems for resilient infrastructure

“…Balaguer et al, 2002;Bock, 2007;Jahanshahi et al, 2009;Jiang et al, 2005;La et al, 2013;Miller, 2015, 2017;Lee et al, 2012;De Paiva et al, 2006;Peel et al, 2016) with fewer applications of repair due to technology development and, in particular, challenges in robotic object manipulation (e.g. Roth et al, 1998).…”

New concept of in-water surface cleaning robot

“…• Has the minimum DOFs needed for moving onto a nonflat 2D space without obstacles, namely only two DOFs in comparison to four DOFs in RAMR I [7] and Alicia3 [8], five DOFs in MATS [9], six DOFs in ROMA II [7], consequently, the control system is simpler [10].…”

“…• Can neutralize the force reactions resulting from the cleaning process in contrast to the similar robots that are limited mainly for inspection (ROMA II [7]), welding [13] or for cleaning flat surfaces (Sky Cleaner 1,2,3 [14], NINJA [15]). …”

“…In the project, the analysis was focused at various adhesion principles and techniques such as suction type (e.g. [7], [16]), grasping type (e.g. [17]), magnetic type and biomimetic type.…”