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JRM Vol.30 No.3 pp. 416-425
doi: 10.20965/jrm.2018.p0416
(2018)

Paper:

Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind

Yogo Takada, Yuhei Tokura, Yodai Matsumura, Takahiro Tanaka, and Tatsuki Kanada

Department of Mechanical and Physical Engineering, Osaka City University
3-3-138 Sugimoto, Sumiyoshi-ku, Osaka-shi, Osaka 558-8585, Japan

Received:
November 16, 2017
Accepted:
April 18, 2018
Published:
June 20, 2018
Keywords:
wall-climbing robot, outdoor activity, inspection, crosswind, maneuvering assist control
Abstract
Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind

Wall inspection robot HORNET

Many social infrastructures and buildings are aging. Therefore, inspections to find deteriorated parts to prevent accidents are important. However, significant costs and inspection time are required for the current technologies. Therefore, inspection methods using robots are attracting attention. As the most appropriate option to traverse freely on concrete bridges and building walls is by traversing with lift force from propellers, a robot called HORNET has been developed that can run along a wall with two rotors. However, the floating-type robot with propellers could drop from a wall if hit by strong wind. Therefore, a gyro sensor was installed in the robot to detect its posture and adopted a simple maneuvering assist control to reduce the above-mentioned issue. In this study, the motion of HORNET was analyzed and a simple control system was designed to realize the maneuvering assist control. It was confirmed that the resistance of HORNET to the crosswind was improved by adding the control system.

Cite this article as:
Y. Takada, Y. Tokura, Y. Matsumura, T. Tanaka, and T. Kanada, “Wall Inspection Robot with Maneuvering Assist Control System Against Crosswind,” J. Robot. Mechatron., Vol.30, No.3, pp. 416-425, 2018.
Data files:
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Last updated on Oct. 17, 2018