用于核应用的遥控半智能攀爬机器人

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625305

S. Galt, B. Luk, D. S. Cooke, A. Collie

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引用次数: 19

摘要

本文描述了一种旨在满足核工业提供的规范的远程操作八足行走/攀爬机器人车辆的设计和构造。整体设计理念是基于生物系统及其行为，从而使车辆能够有效地执行所需的任务。系统采用混合控制体系结构，结合了层次控制和响应式控制的优点。初步的现场试验表明，设计和制造的车辆能够满足用户的要求。

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A tele-operated semi-intelligent climbing robot for nuclear applications

This paper describes the design and construction of a tele-operated eight-legged walking/climbing robotic vehicle aimed at meeting the specifications provided by the nuclear industry. The overall design philosophy is based upon biological systems and their behaviours so that the resulting vehicle can perform the required duties in an efficient manner. A hybrid control architecture is employed in the system which combines the advantages of both hierarchical and reactive methodologies. Preliminary on-site trials have shown that the designed and constructed vehicle is capable of fulfilling the user requirements.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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