Title :
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
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;
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
DOI :
10.1109/ROBIO.2007.4522211
