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
  • [41] Optimal sliding mode control of electromagnetic worm-like locomotion systems for in-pipe robots
    Xiao, Lingfei
    Sattarov, Robert R.
    Zhu, Yue
    Huang, Xinhao
    INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2023, 11 (01) : 324 - 337
  • [42] Optimal sliding mode control of electromagnetic worm-like locomotion systems for in-pipe robots
    Lingfei Xiao
    Robert R. Sattarov
    Yue Zhu
    Xinhao Huang
    International Journal of Dynamics and Control, 2023, 11 : 324 - 337
  • [43] Fixed Switching Frequency Predictive Control for a Multi-Drive Indirect Matrix Converter System
    Toledo, S.
    Rivera, M.
    Munoz, J.
    Pena, R.
    Riveros, J.
    Gregor, R.
    2017 IEEE SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), 2017, : 13 - 18
  • [44] Five-Degree-of-Freedom Magnetic Control of Micro-Robots Using Rotating Permanent Magnets
    Ryan, Patrick
    Diller, Eric
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 1731 - 1736
  • [45] Uni-drive modular robots with pulse width modulation control
    Karbasi, Hamidreza
    Khajepour, Amir
    Huissoon, Jan
    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings, 2005, : 260 - 267
  • [46] Modeling and vision-based control of a micro catheter head for teleoperated in-pipe inspection
    Boudjabi, S
    Ferreira, A
    Krupa, A
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 4282 - 4287
  • [47] Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation
    Jia, Yongyi
    Miao, Shu
    Zhou, Junjian
    Jiao, Niandong
    Liu, Lianqing
    Li, Xiang
    2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA 2024, 2024, : 4534 - 4540
  • [48] Predictive Torque Control of a Multi-Drive System fed by a Six-Leg Indirect Matrix Converter
    Lopez, M.
    Rivera, M.
    Garcia, C.
    Rodriguez, J.
    Pena, R.
    Espinoza, J.
    Wheeler, P.
    2013 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2013, : 1642 - 1647
  • [49] Modelling-based control of an in-pipe micro-machine with pin-type ultrasonic actuators
    Ferreira, A
    Fontaine, JG
    CLIMBING AND WALKING ROBOTS, 2002, : 651 - 658
  • [50] Micro-robots playing soccer games:: A real implementation based on a multi-agent decision-making structure
    Oller, A
    de la Rosa, JL
    García, R
    Ramon, JA
    Figueras, A
    INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2000, 6 (01): : 65 - 74
12345