A tele-operated semi-intelligent climbing robot for nuclear applications

Author

Galt, S. ; Luk, BL ; Cooke, DS ; Collie, AA

Author_Institution

Dept. of Electr. & Electron. Eng., Portsmouth Polytech., UK

fYear

1997

fDate

23-25 Sep 1997

Firstpage

118

Lastpage

123

Abstract

This paper describes the design and construction of a tele-operated eight-legged walking/climbing robotic vehicle aimed at meeting the specifications provided by the nuclear industry. The overall design philosophy is based upon biological systems and their behaviours so that the resulting vehicle can perform the required duties in an efficient manner. A hybrid control architecture is employed in the system which combines the advantages of both hierarchical and reactive methodologies. Preliminary on-site trials have shown that the designed and constructed vehicle is capable of fulfilling the user requirements

Keywords

adaptive control; hierarchical systems; legged locomotion; materials handling; mobile robots; path planning; telerobotics; Robug III; adaptive control; hierarchical control; legged walking robot; nuclear industry; reactive control; semiintelligent climbing robot; telerobotics; Climbing robots; Control systems; Humans; Industrial electronics; Leg; Legged locomotion; Rough surfaces; Service robots; Surface roughness; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on

Conference_Location

Toowoomba, Qld.

Print_ISBN

0-8186-8025-3

Type

conf

DOI

10.1109/MMVIP.1997.625305

Filename

625305