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
相关论文
共 50 条
  • [31] An Approach to a Formalized Design Flow for Embedded Control Systems of Micro-Robots
    Ribas-Xirgo, Lluis
    Saiz-Alcaine, Joaquin
    Trullas-Ledesma, Jonatan
    Velasco-Gonzaelez, A. Josep
    IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 2009, : 2056 - +
  • [32] Path Planning for Underactuated Dubins Micro-robots Using Switching Control
    An, Yatong
    Xu, Chao
    Lin, Qun
    Loxton, Ryan
    Teo, Kok Lay
    2013 10TH IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2013, : 1403 - 1408
  • [33] Multi-drive control and condition monitoring in networked electric drives with EtherCAT
    Zanuso, G.
    Fodor, V
    Peretti, L.
    Wallmark, O.
    2020 INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES (ICEM), VOL 1, 2020, : 1178 - 1184
  • [34] Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots
    Hua, Ye
    Konyo, Masashi
    Tadokoro, Satoshi
    ADVANCED ROBOTICS, 2016, 30 (19) : 1260 - 1272
  • [35] Dual-Stylus-Arm Scratch Drive Micro-robots Controlled by an Onboard Parallax Algorithm
    Arnold, Mark G.
    Cho, Jung H.
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 3147 - 3152
  • [36] Study on in-pipe inspection robots. (4th Report, mechanism and control method of cordless small in-pipe mobile robots using giant magnetostrictive alloy)
    Fukuda, Toshio
    Hosokai, Hidemi
    Ohyama, Hiroaki
    Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 1991, 57 (537): : 1661 - 1666
  • [37] Visual control of two aerial micro-robots by insect-based autopilots
    Ruffier, F
    Viollet, S
    Franceschini, N
    ADVANCED ROBOTICS, 2004, 18 (08) : 771 - 786
  • [38] Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation
    Murcia Rivera, Daniel F.
    Leon-Rodriguez, Hernando
    APPLIED COMPUTER SCIENCES IN ENGINEERING (WEA 2019), 2019, 1052 : 64 - 77
  • [39] Multi-drive control system of endless rolling with adaptive-fuzzy controller
    Wang, HW
    Ge, G
    Yan, LP
    Zhang, HP
    Tan, N
    2003 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-5, PROCEEDINGS, 2003, : 797 - 799
  • [40] Modelling and control of a piezo actuated micro robot with active force control capability for in-pipe application
    Sabzehmeidani, Yaser
    Mailah, Musa
    Hussein, Mohamed
    INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2011, 13 (04) : 301 - 309
12345