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Marco Lepage

3 accepted papers

2022

Inside LineRanger: Mechanism Design to Optimize Operation and Performances of Powerline Inspection Robot

Pierre-Luc Richard, François Morin, Marco Lepage, Philippe Hamelin, Ghislain Lambert, Alex Sartor +2
ICRA 2022poster

Even if UAVs undoubtedly had a profound effect on the visual inspection capabilities of transmission lines, rolling robots, especially for bundled configurations, will still play an extensive role in the maintenance of these strategic assets. As such, LineRanger is among the most efficient and capab…

Cited by 10Source ↗Scholar ↗
2020

Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to Line Ranger

Philippe Hamelin, Pierre-Luc Richard, Marco Lepage, Marin Lagacé, Alex Sartor, Ghislain Lambert +2
ICRA 2020

In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and lim

Cited by 1Source ↗Scholar ↗
2020

Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to LineRanger

Philippe Hamelin, Pierre-Luc Richard, Marco Lepage, Marin Lagacé, Alex Sartor, Ghislain Lambert +2
ICRA 2020poster

In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and lim…

Cited by 2Source ↗Scholar ↗