Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Heterogenous Multi-Configurable Chained Micro-robot for Exploration of Small Cavities
Year:2012
Research Areas
  • Automatic
Information
Abstract
In construction it is sometimes necessary to perform inspection and maintenance tasks of small cavities, such as pipes (gas or water) or floor and ceiling sections. But sometimes it is not possible to have access (either in person or with a tool) to these places. Even some of the commercial robots that exist nowadays are not able either, due to its weight, higher diameter or its limited locomotion gaits. In this article the concepts used in heterogeneous multi-configurable chained cm3 microrobots for pipe inspection are expanded to small cavities in general. New locomotion gaits to access these small places are proposed, based on the concepts of modularity, multiconfigurability, heterogeneity and multi-drive locomotion. These new locomotion gaits are specifically designed for heterogeneous modular robots and combine snake-like, inchworm and helicoidal- driven patterns, amongst others.
International
Si
JCR
Si
Title
Automation in Construction
ISBN
0926-5805
Impact factor JCR
1,5
Impact info
ISI Web of Knowledge
Volume
21
10.1016/j.autcon.2011.06.003
Journal number
1
From page
184
To page
198
Month
ENERO
Ranking
CONSTRUCTION & BUILDING TECHNOLOGY: Q1 (11/56) ENGINEERING, CIVIL: Q1 (19/118)
Participants
  • Autor: Alberto Brunete Gonzalez (UPM)
  • Autor: Miguel Hernando Gutierrez (UPM)
  • Autor: José Emilio Torres Matesanz (UPM)
  • Autor: Ernesto Gambao Galan (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Departamento: Electrónica, Automática e Informática Industrial
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)