TY - GEN
T1 - Inspection robot in complicated 3D environments
AU - Arai, Tatsuo
AU - Kamiyama, Kazuto
AU - Kriengkomol, Pakpoom
AU - Mae, Yasushi
AU - Kojima, Masaru
AU - Horade, Mitsuhiro
PY - 2015
Y1 - 2015
N2 - Half century ago, Japan started to increase her national wealth and to invest social infrastructures. Those activities could have accelerated its economy and brought further national wealth. Now spending many years almost all those facilities get old and are severely damaged. We started the limb mechanism project almost 20 years ago aiming at the robot application for rescuing as well as for inspection tasks in complicated 3D environments. We design and build first prototype, what we call ASTERISK, and demonstrated dexterous locomotion and manipulation capabilities including walk on ceiling underside, climbing up and down stairs and ladders, tightrope walk, and, of course, walk on rough terrains. Now we are applying our robot to attain the inspection of the underside of bridge. The robot has electro-magnetics at the tip of legs to approach and to access the underside. In the inspection task the robot has to walk around on side wall as well as underside, then to move from plane to plane. In the paper we will discuss the feasibility of walk on the underside of iron plate and the gait strategy in the transit from vertical plane to underside.
AB - Half century ago, Japan started to increase her national wealth and to invest social infrastructures. Those activities could have accelerated its economy and brought further national wealth. Now spending many years almost all those facilities get old and are severely damaged. We started the limb mechanism project almost 20 years ago aiming at the robot application for rescuing as well as for inspection tasks in complicated 3D environments. We design and build first prototype, what we call ASTERISK, and demonstrated dexterous locomotion and manipulation capabilities including walk on ceiling underside, climbing up and down stairs and ladders, tightrope walk, and, of course, walk on rough terrains. Now we are applying our robot to attain the inspection of the underside of bridge. The robot has electro-magnetics at the tip of legs to approach and to access the underside. In the inspection task the robot has to walk around on side wall as well as underside, then to move from plane to plane. In the paper we will discuss the feasibility of walk on the underside of iron plate and the gait strategy in the transit from vertical plane to underside.
KW - Asterisk Robot
KW - Bridge inspection
KW - Electro-magnetic
KW - Robot
UR - http://www.scopus.com/inward/record.url?scp=85088196063&partnerID=8YFLogxK
U2 - 10.22260/isarc2015/0082
DO - 10.22260/isarc2015/0082
M3 - Conference contribution
AN - SCOPUS:85088196063
T3 - 32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, Proceedings
BT - 32nd International Symposium on Automation and Robotics in Construction and Mining
PB - International Association for Automation and Robotics in Construction I.A.A.R.C)
T2 - 32nd International Symposium on Automation and Robotics in Construction and Mining: Connected to the Future, ISARC 2015
Y2 - 15 June 2015 through 18 June 2015
ER -