Multi-drive control for in-pipe snakelike heterogeneous modular micro-robots

被引：0
|
作者：
Brunete, Alberto [1 ]
Torres, Jose Emilio [1 ]
Hernando, Miguel [1 ]
Gambao, Ernesto [1 ]
机构：
[1] Univ Politecn Madrid, DISAM, Robot & Cybernet Grp, Madrid, Spain
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
modular; multiconfigurable; heterogeneous; pipe-inspection; behavior-based;
D O I：
10.1109/ROBIO.2007.4522211
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Heterogeneous modular robots are a subject of great complexity due to the control problems derived from the different characteristics of each of the modules and the interactions amongst them. In this article, a control structure based on behaviors for robots composed of different drive units and other purpose modules is presented. This article mainly presents an heterogeneous control layer to allow a transparent control of the robot no matter how it is configured. This development is aimed to chain-type robots and focused on pipe inspection and exploration tasks.
引用
收藏
页码：490 / 495
页数：6
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