Abstract
This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with complex shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slightly lifting off the wheel in order to locally decrease the magnetic force, as well as laterally stabilizing the wheel unit. The robot has the main advantage to be compact and mechanically simple. It features 5 active degrees of freedom: 2 driven wheels each equipped with an active lifter-stabilizer and 1 steering unit. This paper also presents the design and implementation of a prototype robot and its high mobility is shown. It is able to pass 90deg convex and concave obstacles with any inclination regarding the gravity. Finally, it only requires limited space to maneuver, since turning on spot around the rear wheel is possible.
Original document
The different versions of the original document can be found in:
- https://infoscience.epfl.ch/record/109942/files/MagneticWheelRobotIros07.pdf,
- http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000004399116,
- https://ieeexplore.ieee.org/document/4399116,
- http://ieeexplore.ieee.org/document/4399116,
- https://dx.doi.org/10.1109/IROS.2007.4399116,
- https://doi.org/10.1109/IROS.2007.4399116,
- https://www.research-collection.ethz.ch/handle/20.500.11850/9106,
- https://academic.microsoft.com/#/detail/2113642395
DOIS: 10.3929/ethz-a-010038398 10.1109/iros.2007.4399116
Document information
Published on 01/01/2007
Volume 2007, 2007
DOI: 10.3929/ethz-a-010038398
Licence: CC BY-NC-SA license
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