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Mag-Foot: a steel bridge inspection robot

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dc.contributor.author Asada, Harry
dc.contributor.author Mazumdar, Anirban
dc.date.accessioned 2010-12-10T20:50:47Z
dc.date.available 2010-12-10T20:50:47Z
dc.date.issued 2009-12
dc.date.submitted 2009-08
dc.identifier.isbn 978-1-4244-3803-7
dc.identifier.other INSPEC Accession Number: 11009776
dc.identifier.uri http://hdl.handle.net/1721.1/60273
dc.description.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. en_US
dc.language.iso en_US
dc.publisher Institute of Electrical and Electronics Engineers en_US
dc.relation.isversionof http://dx.doi.org/10.1109/IROS.2009.5354599 en_US
dc.rights 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. en_US
dc.source IEEE en_US
dc.title Mag-Foot: a steel bridge inspection robot en_US
dc.type Article en_US
dc.identifier.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. en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Mechanical Engineering en_US
dc.contributor.approver Asada, Harry
dc.contributor.mitauthor Asada, Harry
dc.contributor.mitauthor Mazumdar, Anirban
dc.relation.journal IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009 en_US
dc.identifier.mitlicense PUBLISHER_POLICY en_US
dc.eprint.version Final published version en_US
dc.type.uri http://purl.org/eprint/type/JournalArticle en_US
dspace.orderedauthors Mazumdar, Anirban; Asada, H. Harry en


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