Motion Control of a Micro Biped Robot for Nondestructive Structure Inspection

For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.