Title :
Navigating 3D steel web structures with an inchworm robot
Author :
Kotay, Keith D. ; Rus, Daniela L.
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
We wish to navigate across complicated three-dimensional structures. We describe a robot that can propel itself on a web of surfaces oriented around arbitrary directions in three-space. This robot is an inchworm-like robot with a simple, modular, and flexible design. We present control algorithms for the task-level skills that allow the robot to walk vertically, horizontally, and inverted, and the algorithms that allow the robot to make transitions between surfaces. Finally, we discuss our experiments
Keywords :
mobile robots; navigation; path planning; 3D steel web structures; complicated three-dimensional structures; control algorithms; inchworm robot; task-level skills; Bars; Foot; Gravity; Legged locomotion; Navigation; Orbital robotics; Poles and towers; Propulsion; Robot sensing systems; Steel;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570701
