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Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection

Leggieri, Sergio and Canali, Carlo and Cannella, Ferdinando and Lee, Jinoh and Caldwell, Darwin G. (2021) Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection. In: 20th International Conference on Advanced Robotics, ICAR 2021, pp. 77-82. 20th International Conference on Advanced Robotics, 6-10 Dec 2021, Ljubljana, Slovenia (Virtual). doi: 10.1109/ICAR53236.2021.9659426. ISBN 978-166543684-7.

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Inspections of either industrial and civil structures are necessary to prevent damages and loss of human life. Although robotic inspection is gaining momentum, most of the operations are still performed by human workers. Many are the factors that slow down the spread of inspection robots, in particular, the lack of versatility as well as the low reliability of these devices constitute a huge limitation. In this work, we propose a design of a hybrid platform in the context of industrial inspection tasks. The aim is to address versatility issues exploiting modularity and self-reconfigurability. The final platform will consist of three main components: a main mobile base and two vehicles. All these systems would operate independently accomplishing specific inspection tasks. However, docking interfaces on each device will allow the systems to reconfigure into different robots extending the application range of each unit. The vehicles will work mainly in constrained environments and narrow spaces. The mobile base will monitor wide areas, carrying around the vehicles and deploying them near the inspection target. For dealing with challenging conditions, the two crawlers will dock together, reconfiguring into a snake-like robot. Docking to the main base, the two vehicle would act also as robotic arms, providing manipulation abilities to the system, thus allowing to perform maintenance operations as well. Still, the project is at an early stage of development. Revisions or adjustments on the prototype may follow the evaluations on the crawler performance.

Item URL in elib:https://elib.dlr.de/145121/
Document Type:Conference or Workshop Item (Speech)
Title:Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Leggieri, SergioIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Canali, CarloIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Cannella, FerdinandoIstituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Caldwell, Darwin G.Istituto Italiano di TecnologiaUNSPECIFIEDUNSPECIFIED
Date:December 2021
Journal or Publication Title:20th International Conference on Advanced Robotics, ICAR 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 77-82
Keywords:Reconfigurable Robotic Systems; Mechanism Design; Wheeled Robots
Event Title:20th International Conference on Advanced Robotics
Event Location:Ljubljana, Slovenia (Virtual)
Event Type:international Conference
Event Dates:6-10 Dec 2021
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:10 Dec 2021 00:07
Last Modified:17 Jul 2023 12:23

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