管道爬行机器人的规则运动:仿真与优化

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1999-06-29 DOI:10.1109/ROMOCO.1999.791051

G. V. Kostin, F. L. Chernousko, N. Bolotnik, F. Pfeiffer

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引用次数: 14

摘要

管道爬行机器人是一种八条腿的行走机器，可以在管道内移动，可以用于检查，维护和维修。对机器人的结构参数和可能的步态进行了优化。计算机仿真结果表明，该机器人的操作特性对其几何和运动学参数具有相当的敏感性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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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 sensitivity of operation characteristics of the robot with respect to its geometrical and kinematic parameters.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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