Journal articles: 'Crawler robots'

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Kimura, Hitoshi, Mokutaro Kataoka, and Norio Inou. "Hermetically-Sealed Flexible Mobile Robot “MOLOOP” for Narrow Terrain Exploration." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 361–72. http://dx.doi.org/10.20965/jrm.2022.p0361.

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Conventional mobile robots typically use a wheel or crawler mechanism for locomotion. However, these robots often get stuck in narrow spaces. To mitigate this issue, we propose an innovative flexible mobile robot named “MOLOOP” in this study. The proposed robot has double-looped and hermetically-sealed structure and all ground-contact-area moves to the same direction. Three synchronized flexible crawlers generate the driving force within the robot body. The crawler, named “HS crawler,” comprises of loop-connected flexible bags. The entire body of the robot is flexible; therefore, the robot can pass through narrow terrains with adaptive shape changes. However, in terms of power and size, performance improvement is necessary for the practical use of the robot. This paper describes the improvement of HS crawler performance, which directly affects the driving force, traveling speed, and size of the robot. For the purpose of high input pressure, this study reinforced the flexible bags of the crawler using fibrous materials. This reinforcement realizes the power-up and downsizing of the flexible bags. The new crawler achieves a performance of 3.43 Nm torque and 39.0 mm/s traveling speed, compared to a torque of 0.23 Nm and traveling speed of 3.0 mm/s of the previous crawler. Additionally, the width of the new MOLOOP changed to 270 mm from 420 mm because of the downsized crawler. Furthermore, a dedicated mechanical valve was developed. This valve achieves a flow rate of 2.39 L/min as compared to 0.92 L/min of a commercially available solenoid valve. Moreover, the traveling speed of MOLOOP increased from 3.0 mm/s to 9.0 mm/s. The prototype robot successfully passed through a narrow terrain with a minimum width of 200 mm (robot width: 270 mm).

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Osuka, Koichi, and Hiroshi Kitajima. "Development of Four-Crawler Multilink Mobile Robot MOIRA for Searching Debris." Journal of Robotics and Mechatronics 15, no. 5 (October 20, 2003): 561–70. http://dx.doi.org/10.20965/jrm.2003.p0561.

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Finding victims in disaster debris is the priority in search-and-rescue operations. Attempts to use robots and other mobile devices instead of humans involve such problems as 1) operating when pressed from 4 sides, 2) difficulty in continuing operation or becoming inoperable when overturned, and 3) robot size restricting mobility on uneven terrain. We developed a robot overcoming these problems and surveying debris too closely packed and/or dangerous for human workers to enter. MOIRA, a linked crawler consisting of 4 linked modules, each having crawlers on 4 sides enabling the robot to solve the above problems and improve navigation on uneven terrain. We discuss the linked crawler and its 4-crawler systemuse and qualitatively demonstrate its feasibility. From experiments on operational performance, we quantitatively evaluated its feasibility.

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Xu, Liang, Liang Zhang, Jinzhou Zhao, and Kiwan Kim. "Cornering Algorithm for a Crawler In-Pipe Inspection Robot." Symmetry 12, no. 12 (December 6, 2020): 2016. http://dx.doi.org/10.3390/sym12122016.

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Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.

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Orita, Yasuaki, and Takanori Fukao. "Robust Human Tracking of a Crawler Robot." Journal of Robotics and Mechatronics 31, no. 2 (April 20, 2019): 194–202. http://dx.doi.org/10.20965/jrm.2019.p0194.

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Carrying out firefighting activities at disaster sites is extremely difficult. Therefore, robots that support and enhance these operations are required. In this paper, a crawler robot that tracks the moving path of a firefighter is proposed. It is commonly believed that trained firefighters select the best route; thus, it was assumed that this route is the easiest for the crawler robot as well. Using two 3D light detection and ranging sensors, once the firefighter’s coordinates are detected, the coordinates are combined with 3D simultaneous localization and mapping results, then a target path is generated. The crawler robot follows the path using inverse optimal tracking control. The controller has a stability margin that guarantees robustness, which is an ideal property for disaster response robots used in severe conditions. The results of several experiments show that the proposed system is effective and practical for the crawler robot.

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Li, Juan, Shi Zhong Li, and Xiao Xue Guo. "Study of the Search and Rescue Robot’s Motion System in the Underground Environment." Advanced Materials Research 588-589 (November 2012): 1480–83. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1480.

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For the unstructured extreme environment of coal mine underground accidents, this paper puts forward a multi section crawler search robots. Based on the analysis of the working environment of the robot, underground search robot of crawler - ground model is built , overall configuration of robot that can cross obstacles flexibly in the complicated unstructured environment is put forward, high mobility of walking mechanism and joint module are designed and simulate by simulation software MATLAB, which provides the basis for establishing systematic engineering prototype and completing engineering test result.

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Naruse, Toshihisa. "Development of Bottom-Reliant Type Underwater Robots." Journal of Robotics and Mechatronics 26, no. 3 (June 20, 2014): 279–86. http://dx.doi.org/10.20965/jrm.2014.p0279.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/01.jpg"" width=""300"" />Underwater bulldozer</span></div> During the 1960s and 1970s, Japan entered rapidly into ocean development in such areas as ocean surveys, ocean civil engineering, and the development of ocean resources. And then equipment developments and technological advances encouraged by the public and private sectors accompanied Japan’s development efforts. Various underwater robots were developed and put to practical use. There are various type underwater robots such as free-swimming type, bottomreliant type and towed type. Aiming at robotization in seashore, undersea, and seabed construction works, we have developed various underwater robots with focusing on the bottom-reliant type. As a result, (1) an amphibious bulldozers and an underwater bulldozers as 2-crawler robots same as land construction machines, (2) an underwater rubble leveling robot and a “ReCus” (Remote-Controlled Underwater Surveyer) as an 8-legged walking robot, and (3) a 4-crawler underwater trencher has been developed. </span>

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Yamaguchi, Tomohiro, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi. "Obstacle Avoidance for Quadruped Robots Using a Neural Network." Journal of Advanced Computational Intelligence and Intelligent Informatics 7, no. 2 (June 20, 2003): 115–23. http://dx.doi.org/10.20965/jaciii.2003.p0115.

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Legged mobile robots, which differ from wheeled and crawler, need not avoid all obstacles by altering the path in the obstacle avoidance task. Because, legged mobile robots can get over or stride some obstacles, depending on the obstacle configuration and the current state of the robot. Legged mobile robots muse have suitable motion for each leg. We propose body motion control of a quadruped robot using a neural network (NN) for an obstacle avoidance task. Each leg motion is calculated by robot kinematics using body motion from the NN. NN design parameters are tuned off-line by a genetic algorithm (GA). Effectiveness of the present method is proved through an experiment.

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Mavrin, Ilya, Roman Lavrenov, Mikhail Svinin, Sergey Sorokin, and Evgeni Magid. "Remote control library and GUI development for Russian crawler robot Servosila Engineer." MATEC Web of Conferences 161 (2018): 03016. http://dx.doi.org/10.1051/matecconf/201816103016.

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Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot.

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You, Tsam Lung, Hemma Philamore, and Fumitoshi Matsuno. "A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns." Actuators 10, no. 4 (April 8, 2021): 74. http://dx.doi.org/10.3390/act10040074.

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In this work we present a soft crawler fabricated using a magneto-active elastomer. The crawler is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due to its structural simplicity, low mass, wirelessly controlled actuation and compliant body the design of this crawler has the potential to address the key challenges faced by existing crawling robots. Experimental data were gathered to evaluate the performance of the crawler locomotion in a pipe. The results validated the mathematical models proposed to estimate the distance traveled by the crawler. The crawler shows potential for use in exploration of confined spaces.

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Grigore, Lucian Ștefăniță, Ionica Oncioiu, Iustin Priescu, and Daniela Joița. "Development and Evaluation of the Traction Characteristics of a Crawler EOD Robot." Applied Sciences 11, no. 9 (April 21, 2021): 3757. http://dx.doi.org/10.3390/app11093757.

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Today, terrestrial robots are used in a multitude of fields and for performing multiple missions. This paper introduces the novel development of a family of crawling terrestrial robots capable of changing very quickly depending on the missions they have to perform. The principle of novelty is the use of a load-bearing platform consisting of two independent propulsion systems. The operational platform, which handles the actual mission, is attached (plug and play) between the two crawler propulsion systems. The source of inspiration is the fact that there are a multitude of intervention robots in emergency situations, each independent of the other. In addition to these costs, there are also problems with the specialization of a very large number of staff. The present study focused on the realization of a simplified, modular model of the kinematics and dynamics of the crawler robot, so that it can be easily integrated, by adding or removing the calculation modules, into the software used. The designed model was integrated on a company controller, which allowed us to compare the results obtained by simulation with those obtained experimentally. We appreciate that the analyzed Explosive Ordnance Disposal (EOD) robot solution represents a premise for the development of a family of EOD robots that use the same carrier platform and to which a multitude of operational platforms should be attached, depending on the missions to be performed.

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Orita, Yasuaki, Kiyotsugu Takaba, and Takanori Fukao. "Human Tracking of a Crawler Robot in Climbing Stairs." Journal of Robotics and Mechatronics 33, no. 6 (December 20, 2021): 1338–48. http://dx.doi.org/10.20965/jrm.2021.p1338.

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There are many reports of secondary damage to crews during firefighting operations. One way to support and enhance their activities is to get robots to track them and carry supplies. In this paper, we propose a localization method for stairs that includes scene detection. The proposed method allows a robot to track a person across stairs. First, the scene detection autonomously detects that the person is climbing the stairs. Then, the linear model representing the first step of the staircase is combined with the person’s trajectory for localization. The method uses omnidirectional imaging and point clouds, and the localization and scene detection are available from any posture around the stairs. Finally, using the localization result, the robot automatically navigates to a posture where it can climb the stairs. Verification confirmed the accuracy and real-time capability of the method and demonstrated that the actual crawler robot autonomously chooses a posture that is ready for climbing.

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WANG, Hongqiang, and Akio YAMAMOTO. "Peel Force of Electrostatic Adhesion in Crawler-type Electrostatic Climbing Robots." Journal of the Japan Society of Applied Electromagnetics and Mechanics 23, no. 3 (2015): 498–503. http://dx.doi.org/10.14243/jsaem.23.498.

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Quan, Qiquan, and Shugen Ma. "Development of a Modular Crawler for Tracked Robots." Advanced Robotics 25, no. 13-14 (January 2011): 1839–49. http://dx.doi.org/10.1163/016918611x584712.

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Saunders, Frank, Ethan Golden, Robert D. White, and Jason Rife. "Experimental verification of soft-robot gaits evolved using a lumped dynamic model." Robotica 29, no. 6 (January 28, 2011): 823–30. http://dx.doi.org/10.1017/s0263574711000014.

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SUMMARYWhen generating gaits for soft robots (those with no explicit joints), it is not evident that undulating control schemes are the most efficient. In considering alternative control schemes, however, the computational costs of evaluating continuum mechanic models of soft robots represent a significant bottleneck. We consider the use of lumped dynamic models for soft robotic systems. Such models have not been employed previously to design gaits for soft robotic systems, though they are widely used to simulate robots with compliant joints. A major question is whether these methods are accurate enough to be representations of soft robots to enable gait design and optimization. This paper addresses the potential “reality gap” between simulation and experiment for the particular case of a soft caterpillar-like robot. Experiments with a prototype soft crawler demonstrate that the lumped dynamic model can capture essential soft-robot mechanics well enough to enable gait optimization. Significantly, experiments verified that a prototype robot achieved high performance for control patterns optimized in simulation and dramatically reduced performance for gait parameters perturbed from their optimized values.

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YUTOU, Kaito, Keita NAKAMURA, and Edwardo F. FUKUSHIMA. "Improvement of descent motion stability of crawler-type robots." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (2019): 2P2—P04. http://dx.doi.org/10.1299/jsmermd.2019.2p2-p04.

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KATADA, Yoshiaki, Sho Hasegawa, and Naoki Okazaki. "Swarm Crawler Robots Using Lévy Flight in Targets Exploration." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 1P1—I04. http://dx.doi.org/10.1299/jsmermd.2020.1p1-i04.

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YAMASHINA, Ryota, Taku KITAHARA, and Aiko OTSUKA. "Research for social implementation of crawler-type mobile robots." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 1P3—A14. http://dx.doi.org/10.1299/jsmermd.2021.1p3-a14.

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Kurc, Krzysztof, and Dariusz Szybicki. "Determination of Dynamic Parameters for Underwater Robots with Crawler Drives." Applied Mechanics and Materials 817 (January 2016): 130–39. http://dx.doi.org/10.4028/www.scientific.net/amm.817.130.

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The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater inspection robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software and MES modules. The robot dynamics are described by means of type II Lagrange equations for a non-holonomic system. The details of the kinetic and dynamic equation derivation are highly complex and exceed the scope of this paper. In this paper, the authors concentrate on the methods of determining such dynamic equation parameters as: hydrodynamic resistance factor, precise robot volume and weight, frontal cross-sectional surface and mass moments of inertia.

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Guarnieri, Michele, Inoh Takao, Edwardo F. Fukushima, and Shigeo Hirose. "HELIOS VIII: Toward Practical Robots for Search and Rescue Operations." Journal of Robotics and Mechatronics 20, no. 5 (October 20, 2008): 675–94. http://dx.doi.org/10.20965/jrm.2008.p0675.

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With the progress and new technology developments in robotics research, the realization of practical tools for urban and industrial disaster response, from a mere dream, became a reality. Crawler vehicles, because of their terrain adaptability, have a considerable importance for rescue operations and tasks performed on damaged areas (i.e. unstructured environments). This contribution proposes a tracked robot named HELIOS VIII, consisting of a manipulator utilized not only for handling operations but mainly to assist the motion of the robot itself. In order to prove the efficacy of HELIOS vehicle concept, an overview on the experiments carried out with the first developed prototype HELIOS VII will be presented. Afterwards the new vehicle HELIOS VIII will be introduced illustrating in detail its mechanical design as well as its control architecture. Improvements from the previous version are explained and justified with emphasizing the mechanical design of a new soft gripper consisting of four fingers actuated by a single motor. The new end-effector consists also of a special mechanism for the connection of the vehicle to another crawler unit. This solution can improve the system terrain adaptability on very rough terrains. Finally tests will be explained and discussed as well as the impact of the proposed solution toward the realization of effective tools for disaster relief.

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OKUGAWA, Masayuki, Hiroyasu MIURA, Soichiro SUZUKI, Yuichi HANZAWA, Susumu KURAHASHI, and Hiroyoshi TAKAKURA. "Field Experiment Report of Tunnel Disaster by Investigation Robot System with Passive Adaptive Crawler Robots." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016 (2016): 2A1–16b2. http://dx.doi.org/10.1299/jsmermd.2016.2a1-16b2.

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Tanaka, Kazuhide, Dan Nakaya, Yuki Kondo, and Ichiro Yoshida. "A Study on Optimal Voltage of Electromagnet for Precision Measuring Robot During Surface Roughness Measurement by Vibration Analysis." International Journal of Automation Technology 15, no. 4 (July 5, 2021): 537–45. http://dx.doi.org/10.20965/ijat.2021.p0537.

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In electric power stations, precision surface roughness measurements are performed for environmental loading reduction, quality assurance, and safety. These measurements are performed manually at high places, narrow places, uncomfortable environments, etc. Therefore, workers in power stations experience a lot of hardship and are exposed to danger. To solve these issues, this study researched and developed a crawler-type robot with high measurement accuracy. Conventionally, robots that supply workpieces for surface roughness instruments have been developed. However, to the best of our knowledge, robotization and self-propelled precision measurement instruments have not been developed. Usually, a precision measurement instrument is designed for increased stiffness and stability because high measurement accuracy is the highest priority. However, if the stiffness and stability of the robot are as high as those of the precision measurement instrument, a problem occurs in the robot operation. Therefore, we propose a precision measurement unit using electromagnets and a crawler-type self-propelled robot to equip the unit. In a previous study, vibration analysis experiments using the impulse response method were performed on a precision measuring robot. In this study, the relationships between the voltages applied to the electromagnet and the reductions in the vibration magnitudes were determined by analyzing the vibrations of the robot during measurement. Furthermore, an optimal voltage of the electromagnets of the precision measuring robot to reduce vibrations was determined. From the results of the vibration analysis, the authors demonstrated that the optimal voltages were 9 and 12 V, and the precision measurement unit confirmed the effectiveness and validity of vibration reduction and improved measurement accuracy.

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Tientadakul, Romprakhun, Hiroaki Nakanishi, Tomoo Shiigi, Zichen Huang, Lok Wai Jacky Tsay, and Naoshi Kondo. "Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment." Journal of Robotics and Mechatronics 33, no. 6 (December 20, 2021): 1315–25. http://dx.doi.org/10.20965/jrm.2021.p1315.

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Indoor navigation plays an essential role in agricultural robots that operate in greenhouses. One of the most effective methods for indoor navigation is the spread spectrum sound (SS-sound) system. In this system, the time of arrival (ToA) of the spread spectrum modulated sound is used for localization. However, there is a near-far problem. Transmitting the SS-sound from multiple anchors using time division multiple access (TDMA) is adequate to solve the near-far problem. However, localization is impossible because the ToA from multiple anchors cannot be simultaneously acquired. To solve this problem, a method for combining the SS-sound system with TDMA and an inertial navigation system is proposed in this study. The effectiveness of the proposed method was demonstrated through numerical simulations of a ground robot and experimentally using a crawler robot.

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Dissanayake, Mahesh, Tariq Sattar, Tat-Hean Gan, Ivan Pinson, and Shehan Lowe. "Design and prototype of a magnetic adhesion tracked-wheel robotic platform for mooring chain inspection." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 8 (May 21, 2018): 1063–74. http://dx.doi.org/10.1177/0959651818774479.

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The development of climbing robots for mooring chain applications is still in its infancy due to the operational complexity and the geometrical features of the chain. Mooring chains are subjected to high tidal waves, harsh environmental conditions and storms on a daily basis. Therefore, the integrity assessment of chain links is vital and regular inspection is mandatory for offshore structures. The magnetic adhesion tracked-wheel crawler robot presented in this study is suitable for mooring chain climbing in air and the technique can be adapted for underwater use. The robotic platform can climb mooring chains at a maximum speed of 42 cm/min with an external load of 50 N. A numerical study was conducted to investigate the adhesion module and analysis of the robot structural design. Numerical results were validated using a prototyped robot in laboratory conditions. The proposed robot can be used as a platform to convey equipment for non-destructive testing applications.

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Kawaguchi, Yoshifumi, Itsuo Yoshida, Keizo Iwao, and Takashi Kikuta. "Development of Internal Gas Pipe Inspection Robot." Journal of Robotics and Mechatronics 7, no. 5 (October 20, 1995): 371–76. http://dx.doi.org/10.20965/jrm.1995.p0371.

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This paper describes a new mechanism and communication system for an in-pipe inspection robot. To date, inspection robots have been limited as to their mobility to turn in a T -shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels overcomes these limitations without difficult controls. This dual mechanism, resembling a crawler, enable the robot to climb over steep obstacles like sleeves and dresser joints. Another drawback of earlier robots is that the friction between the pipes and the cables for communication and power supply makes it difficult for them to move long distances. A fiber-optic communication system can reduce such friction. The spools of the fiber-optic communication cables and batteries are mounted on the robot and the cables are rolled or unrolled when the robot is moving forward or backward, respectively. An experimental inspection robot has been made to confirm the efficiency of the new mechanism. However, the robot fell off a Tshaped pipe when it attempted to turn in the pipe with its position being inadequate. It is difficult to eliminate such inadequacy because the robot might be disturbed while attempting to avoid a plug or because of sensors functioning uncertainly. For that reason, a mechanism which makes a robot twist is adopted. The improved experimental robot successfully turned in a T-shaped pipe even when its position was inadequate.

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Eraso Torres, Arturo, and Sixto Enrique Campaña Bastidas. "Caracterización de la web de Colombia." Revista de Investigaciones UNAD 11, no. 1 (June 9, 2012): 149. http://dx.doi.org/10.22490/25391887.777.

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<p>Caracterizar la Web de Colombia es descubrir los elementos que hacen parte de la maraña mundial de Internet limitada por el dominio «.co». Es también identificar las partes que la constituyen: las páginas Web, los sitios y los dominios dentro del contexto nacional del ciberespacio Colombiano, manejado desde sus inicios por la Universidad de los Andes. Esto, con el propósito de conocer lo que es Colombia frente a Internet desde su composición Web. El estudio se enfocó desde un punto de vista tecnológico, descriptivo y analítico, el cual fue apoyado con herramientas informáticas (denominadas crawlers o robots) que permitieron adquirir información desde diferentes puntos de Internet. Se logró de esa manera que los datos recolectados permitieran caracterizar los elementos estudiados.</p><p>El proceso investigativo tomó como elemento importante para alcanzar la caracterización de la Web de Colombia una muestra de direcciones Web, a la cual se denominó «semilla». Esta muestra, con ayuda del crawler, permitió ampliar el rango de sitios y dominios en estudio, logrando tener una base estadística importante a la hora de establecer conclusiones y características significativas de la Web en estudio. Como producto adicional –complementario al crawler utilizado– se desarrolló un graficador de dominios con el cual fue posible tener una visión gráfica del objeto estudiado. Se espera que este documento –como complemento a la investigación desarrollada– sea un punto de partida para ahondar mucho más sobre la estructura de la Web en el país.</p>

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Chahine, Georges, Pete Schroepfer, Othmane-Latif Ouabi, and Cédric Pradalier. "A Magnetic Crawler System for Autonomous Long-Range Inspection and Maintenance on Large Structures." Sensors 22, no. 9 (April 22, 2022): 3235. http://dx.doi.org/10.3390/s22093235.

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The inspection and maintenance of large-scale industrial structures are major challenges that require time-efficient and reliable solutions to ensure the healthy condition of structures during operation. Autonomous robots may provide a promising solution for this purpose. In particular, they could lead to faster and more reliable inspection and maintenance without direct intervention from human operators. In this paper, we present a custom magnetic crawler system, and sensor suit and sensing modalities to enable such robotic operation. We first describe a localization framework based on a mesh created from a point cloud coupled with Inertial Measurement Unit (IMU) and Ultra-Wide Band (UWB) readings. Next, we introduce a mapping framework that relies on a 3D laser, and explicitly state how autonomous navigation and obstacle avoidance can be developed. Lastly, we present how ultrasonic guided waves (UGWs) are integrated into the system to provide accurate robot localization and structural feature mapping by relying on acoustic reflections in combination with the other systems. It is envisioned that long-range inspection capabilities that are not yet available in current industrial mobile platforms could emerge from the designed robotic system.

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Yueqin, Yao, Oleksiy Kozlov, Oleksandr Gerasin, and Galyna Kondratenko. "DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. COMPLEX OF TASKS OF MONITORING AND AUTOMATIC CONTROL OF MOBILE." Science Journal Innovation Technologies Transfer, no. 2019-4 (September 1, 2019): 37–47. http://dx.doi.org/10.36381/iamsti.4.2019.37-47.

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Analysis and formalization of the monitoring and automatic control tasks of the MR for the movement and execution of various types of technological operations on inclined and vertical ferromagnetic surfaces are obtained. Generalized structure of mobile robotic complex is shown with main subsystems consideration. Critical analysis of the current state of the problem of development of universal structures of mobile robots (MRs) for the various types of technological operations execution and elaborations of computerized systems for monitoring and control of MR movement is done. In particular, wheeled, walked and crawler type MRs with pneumatic, vacuum-propeller, magnetic and magnetically operated clamping devices to grip with vertical and ceiling surfaces are reviewed. The constructive features of the crawler MR with magnetic clamping devices capable of moving along sloping ferromagnetic surfaces are considered. The basic technical parameters of the MR are shown for the further synthesis of computerized monitoring and automatic control systems. Formalization of the tasks of monitoring and control of the MR positioning at the processing of large area ferromagnetic surfaces is considered from the point of view of control theory.

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Аndreenkov, A. A., and A. A. Dementev. "THE DEVELOPMENT OF THE SELF-PROPELLED CRAWLER GEAR CHASSIS FOR MULTI-PURPOSE MINI-ROBOTS." Современные наукоемкие технологии (Modern High Technologies) 2, no. 11 2019 (2019): 242–46. http://dx.doi.org/10.17513/snt.37798.

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Fukuda, Toshio, Fumihito Arai, Hideo Matsuura, Kenji Nishibori, Hitoshi Sakauchi, and Naohito Yoshii. "A Study on Wall Surface Mobile Robots : Development of Moving Mechanism for Crawler-Type Wall Surface Mobile Robots with Vacuum Pads." JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing 38, no. 2 (1995): 292–99. http://dx.doi.org/10.1299/jsmec1993.38.292.

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Shao, Lei, Longyu Zhang, Abdelkader Nasreddine Belkacem, Yiming Zhang, Xiaoqi Chen, Ji Li, and Hongli Liu. "EEG-Controlled Wall-Crawling Cleaning Robot Using SSVEP-Based Brain-Computer Interface." Journal of Healthcare Engineering 2020 (January 11, 2020): 1–11. http://dx.doi.org/10.1155/2020/6968713.

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The assistive, adaptive, and rehabilitative applications of EEG-based robot control and navigation are undergoing a major transformation in dimension as well as scope. Under the background of artificial intelligence, medical and nonmedical robots have rapidly developed and have gradually been applied to enhance the quality of people’s lives. We focus on connecting the brain with a mobile home robot by translating brain signals to computer commands to build a brain-computer interface that may offer the promise of greatly enhancing the quality of life of disabled and able-bodied people by considerably improving their autonomy, mobility, and abilities. Several types of robots have been controlled using BCI systems to complete real-time simple and/or complicated tasks with high performances. In this paper, a new EEG-based intelligent teleoperation system was designed for a mobile wall-crawling cleaning robot. This robot uses crawler type instead of the traditional wheel type to be used for window or floor cleaning. For EEG-based system controlling the robot position to climb the wall and complete the tasks of cleaning, we extracted steady state visually evoked potential (SSVEP) from the collected electroencephalography (EEG) signal. The visual stimulation interface in the proposed SSVEP-based BCI was composed of four flicker pieces with different frequencies (e.g., 6 Hz, 7.5 Hz, 8.57 Hz, and 10 Hz). Seven subjects were able to smoothly control the movement directions of the cleaning robot by looking at the corresponding flicker using their brain activity. To solve the multiclass problem, thereby achieving the purpose of cleaning the wall within a short period, the canonical correlation analysis (CCA) classification algorithm had been used. Offline and online experiments were held to analyze/classify EEG signals and use them as real-time commands. The proposed system was efficient in the classification and control phases with an obtained accuracy of 89.92% and had an efficient response speed and timing with a bit rate of 22.23 bits/min. These results suggested that the proposed EEG-based clean robot system is promising for smart home control in terms of completing the tasks of cleaning the walls with efficiency, safety, and robustness.

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Furusho, Junji, and Akihito Sano. "Special Issue on Legged Locomotion." Journal of Robotics and Mechatronics 5, no. 6 (December 20, 1993): 497. http://dx.doi.org/10.20965/jrm.1993.p0497.

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Walking is a form of locomotion that is gentle to the environment, and by means of this action, it is possible to move through a variety of environments. In other words, the system of locomotion called walking allows a mover to go through almost any environment while choosing landing points for providing better supporting points, without hurting the environment. On the other hand, the smooth locomotion by wheel is possible only when a road is created by giving a human touch to the natural environment. Moreover, the crawler system using caterpillars creates problems such as the floors and stairs being hurt or the pipes laid on the floors being crushed, although it does have huge locomotive capacity. In addition, a robot capable of working on the bottom of the sea is now desired. However, the use of a screw as a system of locomotion for the robot would create the problem of stirring up various deposits on the bottom and thereby losing its field of vision. Against this background, a large number of walking robots have been developed in recent years for work inside nuclear power plants, the exploration of planets, work on the sea bottom, and work inside forests. In particular, a six-legged robot by Ohio State University, a 6-legged robot for the exploration of Mars by Carnegie Mellon University, and a bi-armed quadruped robot for extreme work created in Japan have all been developed under large walking robot development projects. Because of these large-scale projects, the studies on walking robots have shown remarkable progress in recent years. On the other hand, the investigation from the points of view of control engineering and robotics of how walking controls are performed by the humans and animals presents a very interesting subject, and accordingly a great many studies are being conducted. The normal walking that the humans and animals do forms stable locomotion as a whole by repeating unstable locomotion. In other words, the walking with its static stability constantly maintained is hardly done except in the case of very slow walking. Studies on such dynamic walking have been started relatively recently, and the elucidation of this type of walking has been very fragmentary. In addition, studies for realizing such walking (or running) by robots have been started only very recently, and are therefore at an initial stage as yet. The studies concerning walking by the humans and animals have been carried out, on one hand, from the point of view of dynamics and, on the other hand, from the point of view of trying to make clear how the nervous systems and control circuits which support walking are composed and what operational mechanisms they have. From the latter point of view, studies concerning the pattern generator of walking motion and studies on walk controls using neural networks have increased sharply in recent years. Thus, to have made plans for a special issue on walking robots at this point in time is considered most opportune. Deep appreciation is expressed to those researchers who have contributed their papers to this special issue, and it is hoped, moreover, that the special issue will provide contributions to future studies on walking robots.

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FUKUDA, Toshio, Hideo MATSUURA, Fumihito ARAI, Kenji NISHIBORI, Hitoshi SAKAUCHI, and Naohito YOSHII. "A Study on Wall Surface Mobile Robots. 1st Report, Development of Moving Mechanism for Crawler Type of Wall Surface Mobile Robots with Vacuum Pads." Transactions of the Japan Society of Mechanical Engineers Series C 58, no. 550 (1992): 1972–79. http://dx.doi.org/10.1299/kikaic.58.1972.

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KATADA, Yoshiaki, and Kaito YAMASHITA. "Swarm Crawler Robots Using Lévy Walk Based On Nonlinear Dynamics for Target Exploration in an Indoor Environment." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 2P1—G05. http://dx.doi.org/10.1299/jsmermd.2021.2p1-g05.

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Dissanayake, Mahesh, Tariq Pervez Sattar, Shehan Lowe, Ivan Pinson, and Tat-hean Gan. "Adaptable legged-magnetic adhesion tracked wheel robotic platform for misaligned mooring chain climbing and inspection." Industrial Robot: An International Journal 45, no. 5 (August 20, 2018): 634–46. http://dx.doi.org/10.1108/ir-04-2018-0074.

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Purpose Mooring chains used to stabilise offshore floating platforms are often subjected to harsh environmental conditions on a daily basis, i.e. high tidal waves, storms, etc. Therefore, the integrity assessment of chain links is vital, and regular inspection is mandatory for offshore structures. The development of chain climbing robots is still in its infancy due to the complicated climbing structure presented by mooring chains. The purpose of this paper is to establish an automated climbing technique for mooring chain inspection. Design/methodology/approach This paper presents a Cartesian legged tracked-wheel crawler robot developed for mooring chain inspection. The proposed robot addresses the misalignment condition of the mooring chains which is commonly evident in in situ conditions. Findings The mooring chain link misalignment is investigated mathematically and used as a design parameter for the proposed robot. The robot is validated with laboratory-based climbing experiments. Practical implications Chain breaking can lead to vessel drift and serious damage such as riser rupture, production shutdown and hydrocarbon release. Currently, structural health monitoring of chain links is conducted using either remotely operated vehicles which come at a high cost or by manual means which increase the danger to human operators. The robot can be used as a platform to convey equipment, i.e. tools for non-destructive testing/evaluation applications. Originality/value This study has upgraded a previously designed magnetic adhesion tracked-wheel mooring chain climbing robot to address the misalignment issues of operational mooring chains. As a result of this study, the idea of an orthogonally placed Cartesian legged-magnetic adhesion tracked wheel robotic platform which can eliminate concerns related to the misaligned mooring chain climbing has been established.

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INOUE, Daisuke, Masashi KONYO, and Satoshi TADOKORO. "1P1-A09 Distributed Tactile Seusor for Crawler Robots : 4th Report : Measurement of Inclination Distribution of Shoes in Running." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007 (2007): _1P1—A09_1—_1P1—A09_4. http://dx.doi.org/10.1299/jsmermd.2007._1p1-a09_1.

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TORII, Katsuma, Noritaka SATO, and Yoshifumi MORITA. "2A2-N10 Research of Turning Performance by Yaw Rotation of Flipper for a Crawler Type Mobile Robots(Search and Rescue Robot and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _2A2—N10_1—_2A2—N10_4. http://dx.doi.org/10.1299/jsmermd.2012._2a2-n10_1.

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Marvi, Hamidreza, and David L. Hu. "Friction enhancement in concertina locomotion of snakes." Journal of The Royal Society Interface 9, no. 76 (June 22, 2012): 3067–80. http://dx.doi.org/10.1098/rsif.2012.0132.

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Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes move through crevices using sequential folding and unfolding of their bodies in the manner of an accordion or concertina. In this combined experimental and theoretical investigation, we elucidate this effective means of moving through channels. We measure the frictional properties of corn snakes, their body kinematics and the transverse forces they apply to channels of varying width and inclination. To climb channels inclined at 60°, we find snakes use a combination of ingenious friction-enhancing techniques, including digging their ventral scales to double their frictional coefficient and pushing channel walls transversely with up to nine times body weight. Theoretical modelling of a one-dimensional n -linked crawler is used to calculate the transverse force factor of safety: we find snakes push up to four times more than required to prevent sliding backwards, presumably trading metabolic energy for an assurance of wall stability.

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Zhao, Wentao, Liang Zhang, and Jongwon Kim. "Design and Analysis of Independently Adjustable Large In-Pipe Robot for Long-Distance Pipeline." Applied Sciences 10, no. 10 (May 24, 2020): 3637. http://dx.doi.org/10.3390/app10103637.

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Large oil and gas pipelines are prone to corrosion and leakage, so in-pipe inspection is necessary. In this article, we show a novel robot mechanism for long-distance pipeline inspection. The robot consists of three crawlers and electric putters, which can adjust their speed and radius independently. Independent adjustment and system self-checking of the robot are achieved through multiple sensors. To make the robot operate efficiently, we studied the influence of size parameters on the forces between the central body and crawler. Moreover, we investigated how to adjust the attitude of the robot through the differential speed of the three crawlers. Static and dynamic simulations of internal forces are presented. The primary experiments indicate that our robot can operate stably in a large steel pipe.

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Fukuda, Toshio, Kenji Nishibori, Hideo Matsuura, Fumihito Arai, Satoru Sakai, and Masanori Kanasige. "A Study on Wall Surface Mobile Robots. 2nd Report, Mechanism of Model with Variable Structural Crawler and Running Experimental Results." Transactions of the Japan Society of Mechanical Engineers Series C 60, no. 569 (1994): 211–17. http://dx.doi.org/10.1299/kikaic.60.211.

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Wu, Lin, Jie Ma, Yuehua Zhao, and Hong Liu. "Apple Detection in Complex Scene Using the Improved YOLOv4 Model." Agronomy 11, no. 3 (March 4, 2021): 476. http://dx.doi.org/10.3390/agronomy11030476.

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To enable the apple picking robot to quickly and accurately detect apples under the complex background in orchards, we propose an improved You Only Look Once version 4 (YOLOv4) model and data augmentation methods. Firstly, the crawler technology is utilized to collect pertinent apple images from the Internet for labeling. For the problem of insufficient image data caused by the random occlusion between leaves, in addition to traditional data augmentation techniques, a leaf illustration data augmentation method is proposed in this paper to accomplish data augmentation. Secondly, due to the large size and calculation of the YOLOv4 model, the backbone network Cross Stage Partial Darknet53 (CSPDarknet53) of the YOLOv4 model is replaced by EfficientNet, and convolution layer (Conv2D) is added to the three outputs to further adjust and extract the features, which make the model lighter and reduce the computational complexity. Finally, the apple detection experiment is performed on 2670 expanded samples. The test results show that the EfficientNet-B0-YOLOv4 model proposed in this paper has better detection performance than YOLOv3, YOLOv4, and Faster R-CNN with ResNet, which are state-of-the-art apple detection model. The average values of Recall, Precision, and F1 reach 97.43%, 95.52%, and 96.54% respectively, the average detection time per frame of the model is 0.338 s, which proves that the proposed method can be well applied in the vision system of picking robots in the apple industry.

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Wang, Yonggan, Junmin Zhang, Yongjuan Wang, Yu Xiang, and Xiaoyang Ni. "Research on the water and land motion performance of an amphibious vehicle." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 39, no. 3 (June 2021): 685–93. http://dx.doi.org/10.1051/jnwpu/20213930685.

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The key motions of land and water are analyzed for a designed amphibious carrier robot. On land, based on the characteristics of the multi-joint crawler, the robot has planned two gaits for climbing steps on land. The kinematic models of climbing steps and climbing steps are established for the two planned gaits, and the maximum height that the robot can climb steps is obtained based, Based on the laws of dynamics, the stability equation of the robot under strong transient impact is established to obtain the conditions for the robot to maintain its own stability when the robot is under strong transient impact during traveling, which provides a theoretical basis for the attitude control of the robot arm. In the water, the fluid numerical method is used to simulate the underwater motion of the robot's swing arm in the extended and retracted state, obtain the traveling resistance and surface pressure of the robot's swing arm crawler in the two states, analyze the relationship between the robot's traveling resistance and speed, obtain the relationship expression between the robot's traveling resistance and the traveling speed, and provide data support of the state selection and speed setting of the robot's underwater crawler.

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Zhu, Xiaoqing, Mingchao Wang, Xiaogang Ruan, Lu Chen, Tingdong Ji, and Xinyuan Liu. "Adaptive Motion Skill Learning of Quadruped Robot on Slopes Based on Augmented Random Search Algorithm." Electronics 11, no. 6 (March 8, 2022): 842. http://dx.doi.org/10.3390/electronics11060842.

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To deal with the problem of stable walking of quadruped robots on slopes, a gait planning algorithm framework for quadruped robots facing unknown slopes is proposed. We estimated the terrain slope by the attitude information measured by the inertial measurement unit (IMU) without relying on the robot vision. The crawl gait was adopted, and the center of gravity trajectory planning was carried out based on the stability criterion zero-moment point (ZMP). Then, the augmented random search (ARS) algorithm was used to modulate the parameters of the Bezier curve to realize the planning of the robot foot trajectory. Additionally, the robot can adjust the posture in real time to follow the desired joint angle, which realizes the adaptive adjustment of the robot’s posture during the slope movement. Simulation experiment results show that the proposed algorithm for slope gait planning can adaptively adjust the robot’s attitude and stably pass through the slope environment when the slope is unknown.

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Poole, Alastair, Mark Sutcliffe, Gareth Pierce, and Anthony Gachagan. "A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors." Sensors 21, no. 22 (November 19, 2021): 7692. http://dx.doi.org/10.3390/s21227692.

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Robotised Non-Destructive Testing (NDT) has revolutionised the field, increasing the speed of repetitive scanning procedures and ability to reach hazardous environments. Application of robot-assisted NDT within specific industries such as remanufacturing and Aersopace, in which parts are regularly moulded and susceptible to non-critical deformation has however presented drawbacks. In these cases, digital models for robotic path planning are not always available or accurate. Cutting edge methods to counter the limited flexibility of robots require an initial pre-scan using camera-based systems in order to build a CAD model for path planning. This paper has sought to create a novel algorithm that enables robot-assisted ultrasonic testing of unknown surfaces within a single pass. Key to the impact of this article is the enabled autonomous profiling with sensors whose aperture is several orders of magnitude smaller than the target surface, for surfaces of any scale. Potential applications of the algorithm presented include autonomous drone and crawler inspections of large, complex, unknown environments in addition to situations where traditional metrological profiling equipment is not practical, such as in confined spaces. In simulation, the proposed algorithm has completely mapped significantly curved and complex shapes by utilising only local information, outputting a traditional raster pattern when curvature is present only in a single direction. In practical demonstrations, both curved and non-simple surfaces were fully mapped with no required operator intervention. The core limitations of the algorithm in practical cases is the effective range of the applied sensor, and as a stand-alone method it lacks the required knowledge of the environment to prevent collisions. However, since the approach has met success in fully scanning non-obstructive but still significantly complex surfaces, the objectives of this paper have been met. Future work will focus on low-accuracy environmental sensing capabilities to tackle the challenges faced. The method has been designed to allow single-pass scans for Conformable Wedge Probe UT scanning, but may be applied to any surface scans in the case the sensor aperture is significantly smaller than the part.

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Ye, Chuan Qi, Wei Yan Shang, Zhao Peng Xu, Jian Jun Liu, Quan Rong Huang, and Bao An. "Structural Design of Robot Applied in Post-Earthquake Relief." Applied Mechanics and Materials 437 (October 2013): 619–22. http://dx.doi.org/10.4028/www.scientific.net/amm.437.619.

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In order to enhance the ability of the rescue robot, and to accomplish a rescue mission in special environment, variable pitch crawler-type robot is designed. The structural concept of the new type of variable pitch has been proposed and designed, and this can help to improve the robot's adaptive capacity to complex environment. Then the varying pitch structure has been designed using pneumatic devices, it can ensure simultaneous operation of the right and left wheel at constant speed, and enable the robot to move nimbly through a tight space. The new crawler-type running gear strengthens the security and the stability of the complete system.

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WATANABE, Ayaka, Soichiro SUZUKI, and Masayuki OKUGAWA. "1P2-G01 Study of Compliance Control of Crawler Robot with Sub-Crawlers." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P2—G01_1—_1P2—G01_4. http://dx.doi.org/10.1299/jsmermd.2015._1p2-g01_1.

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Zhou, Qiang, and Xin Li. "Experimental comparison of drag-wiper and roller-wiper glass-cleaning robots." Industrial Robot: An International Journal 43, no. 4 (June 20, 2016): 409–20. http://dx.doi.org/10.1108/ir-01-2016-0020.

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Purpose Glass-cleaning robots were developed to perform the difficult, time-consuming and dangerous job of cleaning windows that had traditionally been done by humans. The wiping mechanism is the most important functional component of a glass-cleaning robot, which indirectly affects the design of the adsorption and transport mechanisms. This study aims to compare two types of wiping mechanisms – the drag-wiper and roller-wiper –through an analysis and an actual experiment, providing theoretical and measured data that can be applied to the optimization of the design of future glass-cleaning robots. Design/methodology/approach The authors undertook a theoretical force and energy consumption analysis of glass-cleaning robots and, based on the obtained results, undertook an analysis the two wiper types. They verified the theoretical analysis by conducting several experiments including studying the relationship between a wiper’s friction force and rotational speed, measuring the contact normal forces of the suckers, wiper and crawlers relative to the glass wall, measuring the energy consumed to drive the robot and studying the relationship between the vacuum pump’s power consumption and the adsorption force. The authors also compared the wiping efficacy of the drag-wiper robot and roller-wiper robot. Findings The drag-wiper offers the advantages of simplicity while being able to wipe the area around the edge of a window frame. Meanwhile, the use of a roller-wiper not only improves the robot’s driving performance and reduces the required adsorption force but can also reduce the amount of energy consumed to drive both the robot itself and also the vacuum pump; in addition, the roller-wiper is more flexible and energy- and time-efficient when dealing with dirt that is difficult to remove. Originality/value This study has, through a detailed analysis of the advantages and disadvantages of a drag-wiper and roller-wiper robot, from the three aspects of force analysis, energy consumption and wiping efficacy, obtained theoretical and measured data that can be applied to the optimization of the design of future industrial and household glass-cleaning robots.

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Tsumaki, Toshimichi, Hiroki Kato, and Edwardo F. Fukushima. "Multi Crawler Robot." Journal of the Robotics Society of Japan 36, no. 8 (2018): 551–58. http://dx.doi.org/10.7210/jrsj.36.551.

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Hirasawa, Junji. "Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers." Journal of Robotics and Mechatronics 32, no. 4 (August 20, 2020): 780–88. http://dx.doi.org/10.20965/jrm.2020.p0780.

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This paper describes about improvements in the mobility of a stair climbable mobile robot on a step-field. A step-field, standardized by the National Institute of Standards and Technology (NIST), is a simulated artificial rough terrain used for testing rescue robots. Its use was popularized worldwide in the RoboCup Rescue contest, but a method for evaluating test results from it has yet to be established sufficiently. The author of this paper attempts to evaluate the mobility of stair climbable mobile robots on step-fields. A novel method using the 2 parameters of yaw-angle error and lateral position error is proposed. Two actual robots, SMART-IV type A and SMART-IV type B, are constructed and evaluated on small step-fields. The test results indicate that both robots can traverse the step-field under some appropriate conditions, but a comparison of the results indicates that the proposed design changes may be declared an improvement of the robot.

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Lan, Guangping, and Shugen Ma. "Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion." Journal of Robotics and Mechatronics 18, no. 5 (October 20, 2006): 556–63. http://dx.doi.org/10.20965/jrm.2006.p0556.

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The novel crawler-driven robot we designed used a planetary gear reducer as the major power transmission device and provides two types of output in different form using one actuator. The crawler mechanism switches between two outputs autonomously based on the terrain. Using this feature, the crawler-driven robot is expected to perform adaptably and effectively in irregular environments. We conducted 2-dimensional quasi-static analysis to explain the condition under which the robot performs some locomotion modes in an irregular environment. Experimental results showed that the crawler-driven robot moves over even ground and uses efficient locomotion modes or postures to adapt autonomously to irregular environments.

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Szybicki, Dariusz, Krzysztof Kurc, Magdalena Muszyńska, and Mirosław Sobaszek. "Dynamics of inspection robot with crawler drive." Journal of Civil Engineering, Environment and Architecture XXXI, no. 61 (2/14) (September 2014): 149–59. http://dx.doi.org/10.7862/rb.2014.37.

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Journal articles on the topic 'Crawler robots'

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