3 accepted papers
Applying robots in narrow and cluttered disaster environments such as oil refineries requires a slim body and a wide range of motion. It is also necessary to have abilities to absorb unexpected contact with the environment and to walk on scattered debris. In this paper we propose new compact and hig…
In this paper, a new experimental legged robot for inspection and disaster response in social infrastructures designed for humans, such as factories and power plants is presented. The robot has distinctive features to climb up and down ladders with a narrow cage, to pass through narrow environments,…
This paper presents a novel control method to stabilize the whole-body motion of humanoid robots when climbing vertical ladders and transitioning between ladders and catwalks. In such environments, the body of the robot tends to incline and rotate because of the slippery surfaces. The inclination an…