Mag-Foot: a steel bridge inspection robot
Name
Mazumdar-2009-Mag-Foot a steel bridge inspection robot.pdf
Size
492.27 KB
Format
Adobe PDF
Checksum (MD5)
b1f22199e9ae5f843764d1ec1571c301
Author(s)
Asada, Harry
Mazumdar, Anirban
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Mazumdar, A., and H.H. Asada. “Mag-Foot: A steel bridge inspection robot.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1691-1696. ©2009 IEEE.
Version
Final published version
Abstract
A legged robot that moves across a steel structure is developed for steel bridge inspection. Powerful permanent magnets imbedded in each foot allow the robot to hang from a steel ceiling powerlessly. Although the magnets are passive, the attractive force is modulated by tilting the foot against the steel surface. This allows the robot to slide its feet along the surface using "Moonwalk" and "Shuffle" gait patterns. The robot can also detach its feet and swing them over small obstacles. These diverse walking patterns are created with a single servoed joint and 2 sets of simple locking mechanisms. Kinematic and static conditions are obtained for the under-actuated legged robot to perform each gait pattern safely and stably. A proof-of-concept prototype robot is designed, built, and tested. Experiments demonstrate the feasibility of the design concept and verify the analytical results.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354599
