Observatorio de I+D+i UPM

Descripción
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.
Internacional	Si
JCR del ISI	Si
Título de la revista	Automation in Construction
ISSN	0926-5805
Factor de impacto JCR	1,5
Información de impacto	ISI Web of Knowledge
Volumen	21
DOI	10.1016/j.autcon.2011.06.003
Número de revista	1
Desde la página	184
Hasta la página	198
Mes	ENERO
Ranking	CONSTRUCTION & BUILDING TECHNOLOGY: Q1 (11/56) ENGINEERING, CIVIL: Q1 (19/118)

Esta actividad pertenece a memorias de investigación

• Autor: Alberto Brunete Gonzalez (UPM)
• Autor: Miguel Hernando Gutierrez (UPM)
• Autor: José Emilio Torres Matesanz (UPM)
• Autor: Ernesto Gambao Galan (UPM)

• 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