TY - GEN
T1 - A hybrid flying and walking robot for steel bridge inspection
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
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/14
Y1 - 2016/12/14
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.
UR - http://www.scopus.com/inward/record.url?scp=85009820790&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2016.7784278
DO - 10.1109/SSRR.2016.7784278
M3 - Conference contribution
AN - SCOPUS:85009820790
T3 - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
SP - 62
EP - 67
BT - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
A2 - Melo, Kamilo
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Y2 - 23 October 2016 through 27 October 2016
ER -