Related papers: Pipe Climbing Robot
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Inspection and maintenance are two crucial aspects of industrial pipeline plants. While robotics has made tremendous progress in the mechanic design of in-pipe inspection robots, the autonomous control of such robots is still a big open…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
This paper presents the examination of the clever Differential with three levels of opportunity. The is the principal differential with that interprets differential speed and force to its three results when the results are under fluctuated…
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
Drawing inspiration from human multi-domain walking, this work presents a novel reduced-order model based framework for realizing multi-domain robotic walking. At the core of our approach is the viewpoint that human walking can be…
This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and…
We have developed a parallel wire-driven monopedal robot, RAMIEL, which has both speed and power due to the parallel wire mechanism and a long acceleration distance. RAMIEL is capable of jumping high and continuously, and so has high…