Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use robotic systems accomplish such tasks has deep implications terms safety for human workers significantly extend life infrastructures industrial facilities. In this context, long-reach cable-driven hyper-redundant be employed inspect areas that difficult reach h...

In this paper, we present a robotic system for inpipe inspection of underground urban gas pipelines. This robot is developed on the purpose of being utilized as a mobile platform for visual and Non-Destructive Testing (NDT) of the pipeline networks. The robot is configured as an articulated structure-like a snake with a tether cable. Two active driving vehicles are located in front and rear of ...

Diierential geometry and nonlinear control theory provide essential tools for studying motion generation in robot systems. Two areas where progress is being made are motion planning for mobile robots on the factory oor (or on the surface of Mars), and control of highly articulated robots|such as multiingered robot hands and robot \snakes"| for medical inspection and manipulation inside the gast...

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

In this paper, the head stabilization problem of snake robot in planar motion is studied. When performs a movement with an inchworm locomotion gait, controller swings up and down due to fluctuation joint angle neck joint. However, usually has laser radar other visual instruments on head, swing causes instrument fail obtain external information normally, which affects navigation detection robot....