Journal
AUTOMATION IN CONSTRUCTION
Volume 21, Issue -, Pages 184-198Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2011.06.003
Keywords
Modular; Multi-configurable; Heterogeneous; Pipe inspection
Funding
- National Spanish Research Program [MEC DPI2005-08932-C02]
- Consejeria de Educacion de la Comunidad de Madrid y el Fondo Social Europeo (F.S.E.)
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In construction it is sometimes necessary to perform inspection and maintenance tasks of small cavities, such as pipes (gas or water) or floor and ceiling sections. But sometimes it is not possible to have access (either in person or with a tool) to these places. Even some of the commercial robots that exist nowadays are not able either, due to its weight, higher diameter or its limited locomotion gaits. In this article the concepts used in heterogeneous multi-configurable chained cm(3) microrobots for pipe inspection are expanded to small cavities in general. New locomotion gaits to access these small places are proposed, based on the concepts of modularity, multiconfigurability, heterogeneity and multi-drive locomotion. These new locomotion gaits are specifically designed for heterogeneous modular robots and combine snake-like, inchworm and helicoidal-driven patterns, amongst others. (C) 2011 Elsevier B.V. All rights reserved.
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