By Topic

Control of a tube crawling machine

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Pfeiffer, F. ; Lehrstuhl B fur Mech., Tech. Univ. Munchen, Garching, Germany ; Rossmann, Th. ; Loffler, K.

The project of an eight legged pipe crawling robot is presented. First the mechanical design is described with particular emphasis on the sensors and actuators of the robot. These provide the input to the nonlinear controller that is organized hierarchically. According to the mechanical structure of the system, the control task is distributed to a central level, controlling the overall system behavior and a decentral level, corresponding to the individual legs. Both on the central and on the decentral level, the control problem covers coordinative tasks, concerning the sequence of phases in the gait pattern and operative tasks, concerning the control of the forces during each phase of the gait. On the central level, the forces are controlled based on linear theory and distributed to the legs. According to the demands of the overall system, the decentral controllers are designed to adjust the forces of each leg employing the method of feedback linearization

Published in:

Control of Oscillations and Chaos, 2000. Proceedings. 2000 2nd International Conference  (Volume:3 )

Date of Conference:

2000