Regular motions of a tube-crawling robot: simulation and optimization

The tube-crawling robot is an eight-legged walking machine that moves inside pipe-lines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensiti...

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Bibliographische Detailangaben
Hauptverfasser:	Kostin, G.V., Chernousko, F.L., Bolotnik, N.N., Pfeiffer, F.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Algorithm design and analysis Computational modeling Computer simulation Hip Inspection Leg Legged locomotion Robot sensing systems Structural engineering
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Beschreibung
Zusammenfassung:	The tube-crawling robot is an eight-legged walking machine that moves inside pipe-lines and can be used for inspection, maintenance, and repair. Optimization of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematic parameters.
DOI:	10.1109/ROMOCO.1999.791051