Multi-drive control for in-pipe snakelike heterogeneous modular micro-robots

Author

Brunete, Alberto ; Torres, Jose Emilio ; Hernando, Miguel ; Gambao, Ernesto

Author_Institution

Robot. & Cybern. Group, Univ. Politec. de Madrid (UPM), Madrid

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

490

Lastpage

495

Abstract

Heterogeneous modular robots are a subject of great complexity due to the control problems derived from the different characteristics of each of the modules and the interactions amongst them. In this article, a control structure based on behaviors for robots composed of different drive units and other purpose modules is presented. This article mainly presents an heterogeneous control layer to allow a transparent control of the robot no matter how it is configured. This development is aimed to chain-type robots and focused on pipe inspection and exploration tasks.

Keywords

inspection; microrobots; mobile robots; pipes; chain-type robot; heterogeneous modular robot; in-pipe snakelike heterogeneous modular microrobot; multidrive control; pipe exploration; pipe inspection; Artificial intelligence; Biomimetics; Buildings; Cybernetics; Fault tolerant systems; Inspection; Organisms; Robot control; Robot sensing systems; Water heating; behavior-based; heterogeneous; modular; multiconfigurable; pipe-inspection;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522211

Filename

4522211