A Hybrid Flying and Walking Robot For Steel Bridge Inspection

被引：0
|
作者：
Ratsamee, Photchara [1 ]
Kriengkomol, Pakpoom [1 ]
Arai, Tatsuo [2 ]
Kamiyama, Kazuto [2 ]
Mae, Yasushi [2 ]
Kiyokawa, Kiyoshi [1 ]
Mashita, Tomohiro [1 ]
Uranishi, Yuki [1 ]
Takemura, Haruo [1 ]
机构：
[1] Osaka Univ, Cyber Media Ctr, Suita, Osaka 565, Japan
[2] Osaka Univ, Grad Sch Engn Sci, Suita, Osaka 565, Japan
来源：
2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR) | 2016年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Inspection and maintenance are extremely important to maintain safety and long-term usability of bridges. This application requires a robot that is able to maneuver in a complex 3D environment and to stabilize on steel surfaces to perform bolts checking We propose a novel design and concept of hybrid (integrated walkability and flyability) robot for steel bridge inspection and maintenance. Our proposed design allow the robot to access a 3D structure without being time consuming. In order to stabilize our robot in 3D space, we present a vibration control based on a vibrator to compensate vibration generated from joint actuators when the robot is flying. We present a preliminary experiment on how our robot performs obstacle avoidance along with a simulation of flying performance of a hybrid robot when the vibration was compensated based on LOG control.
引用
收藏
页码：62 / 67
页数：6
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