7 accepted papers
Inspection of hydraulic structures is crucial for ensuring the reliability and safety of infrastructures. Although underwater manipulators are essential tools, existing systems often lack sufficient compliance and safe interaction capabilities. This study develops a novel underwater manipulator syst…
To address the issue that current transformable spoke-wheeled leg-wheel robots cannot simultaneously achieve simple structure, stable locomotion and open step climbing ability, a novel robot design method is proposed. The robot called BiTSpoke is driven by two transformable spoke wheels, with a pass
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their kinematics and joint coordinate measurements. Yet, the manipulators
During the inspection and maintenance of the underwater part of hydraulic structures, it is often necessary to clean the surface of a certain area for subsequent operations. At present, there are still few robots capable of underwater fine cleaning. Therefore, this letter introduces the design of a
This letter presents a snake robot with a gripper for inspection and maintenance in narrow spaces. The proposed robot has a gripper equipped with a camera and a laser distance sensor that can inspect the surroundings and grasp objects. The control methods of the proposed robot consist of three parts
In recent years, underwater robots have been increasingly used in the maintenance of hydraulic structures. Underwater manipulators are essential devices that are used to carry out such maintenance tasks. For delicate repair operations such as fixing tiny cracks, most existing underwater manipulators
Most of the current power line inspection robots use cameras and LiDARs to inspect the power line surfaces and the surrounding environment. But it is still difficult to detect the internal defects of the power lines. In this letter, the design and implementation of LineSpyX, a novel power line inspe