A hybrid flying and walking robot for steel bridge inspection

Photchara Ratsamee; Pakpoom Kriengkomol; Tatsuo Arai; Kazuto Kamiyama; Yasushi Mae; Kiyoshi Kiyokawa; Tomohiro Mashita; Yuki Uranishi; Haruo Takemura

doi:10.1109/SSRR.2016.7784278

A hybrid flying and walking robot for steel bridge inspection

Photchara Ratsamee, Pakpoom Kriengkomol, Tatsuo Arai, Kazuto Kamiyama, Yasushi Mae, Kiyoshi Kiyokawa, Tomohiro Mashita, Yuki Uranishi, Haruo Takemura

Osaka University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

23 Citations (Scopus)

Abstract

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 LQG control.

Original language	English
Title of host publication	SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
Editors	Kamilo Melo
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	62-67
Number of pages	6
ISBN (Electronic)	9781509043491
DOIs	https://doi.org/10.1109/SSRR.2016.7784278
Publication status	Published - 14 Dec 2016
Externally published	Yes
Event	14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland Duration: 23 Oct 2016 → 27 Oct 2016

Publication series

Name	SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Conference

Conference	14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Country/Territory	Switzerland
City	Lausanne
Period	23/10/16 → 27/10/16

Access to Document

10.1109/SSRR.2016.7784278

Cite this

Ratsamee, P., Kriengkomol, P., Arai, T., Kamiyama, K., Mae, Y., Kiyokawa, K., Mashita, T., Uranishi, Y., & Takemura, H. (2016). A hybrid flying and walking robot for steel bridge inspection. In K. Melo (Ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 62-67). Article 7784278 (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784278

Ratsamee, Photchara ; Kriengkomol, Pakpoom ; Arai, Tatsuo et al. / A hybrid flying and walking robot for steel bridge inspection. SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. editor / Kamilo Melo. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 62-67 (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics).

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title = "A hybrid flying and walking robot for steel bridge inspection",

abstract = "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 LQG control.",

author = "Photchara Ratsamee and Pakpoom Kriengkomol and Tatsuo Arai and Kazuto Kamiyama and Yasushi Mae and Kiyoshi Kiyokawa and Tomohiro Mashita and Yuki Uranishi and Haruo Takemura",

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doi = "10.1109/SSRR.2016.7784278",

language = "English",

series = "SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics",

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Ratsamee, P, Kriengkomol, P, Arai, T, Kamiyama, K, Mae, Y, Kiyokawa, K, Mashita, T, Uranishi, Y & Takemura, H 2016, A hybrid flying and walking robot for steel bridge inspection. in K Melo (ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics., 7784278, SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics, Institute of Electrical and Electronics Engineers Inc., pp. 62-67, 14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016, Lausanne, Switzerland, 23/10/16. https://doi.org/10.1109/SSRR.2016.7784278

A hybrid flying and walking robot for steel bridge inspection. / Ratsamee, Photchara; Kriengkomol, Pakpoom; Arai, Tatsuo et al.
SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. ed. / Kamilo Melo. Institute of Electrical and Electronics Engineers Inc., 2016. p. 62-67 7784278 (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ratsamee, Photchara

AU - Kriengkomol, Pakpoom

AU - Arai, Tatsuo

AU - Kamiyama, Kazuto

AU - Mae, Yasushi

AU - Kiyokawa, Kiyoshi

AU - Mashita, Tomohiro

AU - Uranishi, Yuki

AU - Takemura, Haruo

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N2 - 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 LQG control.

AB - 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 LQG control.

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Ratsamee P, Kriengkomol P, Arai T, Kamiyama K, Mae Y, Kiyokawa K et al. A hybrid flying and walking robot for steel bridge inspection. In Melo K, editor, SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. Institute of Electrical and Electronics Engineers Inc. 2016. p. 62-67. 7784278. (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). doi: 10.1109/SSRR.2016.7784278

A hybrid flying and walking robot for steel bridge inspection

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