A prototype climbing robot for inspection of complex ferrous structures

Peters, G; Pagano, D; Liu, DK; Waldron, K

A prototype climbing robot for inspection of complex ferrous structures

Peters, G Pagano, D Liu, DK

Waldron, K

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Publication Type:: Conference Proceeding
Citation:: Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, 2010, pp. 150 - 156
Issue Date:: 2010-01-01

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Field	Value	Language
dc.contributor.author	Peters, G	en_US
dc.contributor.author	Pagano, D	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Waldron, K https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2010-01-01	en_US
dc.identifier.citation	Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, 2010, pp. 150 - 156	en_US
dc.identifier.isbn	9789814327978	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16147
dc.description.abstract	© 2010 by World Scientific Publishing Co. Pte. Ltd. Currently many hazardous maintenance and inspection tasks, such as paint inspection and corrosion condition monitoring of steel structures, are being performed manually by workers, which causes serious health and safety problems. This paper presents a concept climbing robot, with the aim of exploring highly complex ferrous structures such as steel bridges, for the purpose of inspection duties. To demonstrate this concept, a quadruped prototype is developed. A modular architecture that simplifies the development process and improves reusability has been implemented. Permanent magnet compliant pads on each foot provide a simple method of adhesion on the highly complex and unsmooth surface of a bridge. A simple detachment mechanism has been employed. Experiments have been conducted to prove the concept and test the design of the prototype.	en_US
dc.relation.ispartof	Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010	en_US
dc.relation.isbasedon	10.1142/9789814329927_0020	en_US
dc.title	A prototype climbing robot for inspection of complex ferrous structures	en_US
dc.type	Conference Proceeding
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
dc.location.activity	Nagoya, Japan	en_US
dc.location.activity	Hanoi
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

© 2010 by World Scientific Publishing Co. Pte. Ltd. Currently many hazardous maintenance and inspection tasks, such as paint inspection and corrosion condition monitoring of steel structures, are being performed manually by workers, which causes serious health and safety problems. This paper presents a concept climbing robot, with the aim of exploring highly complex ferrous structures such as steel bridges, for the purpose of inspection duties. To demonstrate this concept, a quadruped prototype is developed. A modular architecture that simplifies the development process and improves reusability has been implemented. Permanent magnet compliant pads on each foot provide a simple method of adhesion on the highly complex and unsmooth surface of a bridge. A simple detachment mechanism has been employed. Experiments have been conducted to prove the concept and test the design of the prototype.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/16147