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Conference Paper: Motion control of a micro biped robot for nondestructive structure inspection

TitleMotion control of a micro biped robot for nondestructive structure inspection
Authors
KeywordsMotion control
Biped robot
Orientation estimation
Robot locating
Issue Date2005
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 478-483 How to Cite?
AbstractFor the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection. ©2005 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212901
ISSN

 

DC FieldValueLanguage
dc.contributor.authorHongjun, Chen-
dc.contributor.authorWeihua, Sheng-
dc.contributor.authorNing, Xi-
dc.contributor.authorJindong, Tan-
dc.date.accessioned2015-07-28T04:05:22Z-
dc.date.available2015-07-28T04:05:22Z-
dc.date.issued2005-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 478-483-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212901-
dc.description.abstractFor the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection. ©2005 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.subjectMotion control-
dc.subjectBiped robot-
dc.subjectOrientation estimation-
dc.subjectRobot locating-
dc.titleMotion control of a micro biped robot for nondestructive structure inspection-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2005.1570164-
dc.identifier.scopuseid_2-s2.0-33846176599-
dc.identifier.volume2005-
dc.identifier.spage478-
dc.identifier.epage483-

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