Title :
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
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;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625305
