Title :
Regular motions of a tube-crawling robot: simulation and optimization
Author :
Kostin, Georgii V. ; Chernousko, Felix L. ; Bolotnik, Nikolai N. ; Pfeiffer, Friedrich
Author_Institution :
Inst. of Problems of Mech., Acad. of Sci., Moscow, Russia
Abstract :
The tube-crawling robot is an eight-legged walking machine that moves inside pipe-lines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematic parameters
Keywords :
digital simulation; inspection; legged locomotion; motion control; optimisation; robot kinematics; sensitivity analysis; computer simulation; eight-legged walking machine; inspection; kinematics; maintenance; optimization; pipe-lines; sensitivity analysis; tube-crawling robot; Actuators; Algorithm design and analysis; Computational modeling; Computer simulation; Hip; Inspection; Leg; Legged locomotion; Robot sensing systems; Structural engineering;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791051
