An Agile Bicycle-like Robot for Complex Steel Structure Inspection
Son Thanh Nguyen, Hai Nguyen, Son Tien Bui, Van Anh Ho, Trung Dung Ngo, Hung Manh La
Abstract
This paper presents a simple but compact design of a bicycle-like robot for inspecting complex-shaped ferromagnetic structures. The design concept for versatile locomotion relies on two independently steered magnetic wheels formed in a bicycle-like configuration, allowing the robot to possess multi-directional mobility. The key feature of a reciprocating mechanism enables the robot to change its shape when passing obstacles. A dynamic joint of the robot configuration makes it naturally adapt to uneven and complex surfaces of steel structures. We demonstrate the usability and practical deployment of the robot for steel thickness measurement using an ultrasonic sensor.
BibTeX
@inproceedings{icra2022_anagilebicycleli,
title = {An Agile Bicycle-like Robot for Complex Steel Structure Inspection},
author = {Son Thanh Nguyen and Hai Nguyen and Son Tien Bui and Van Anh Ho and Trung Dung Ngo and Hung Manh La},
booktitle = {ICRA 2022},
year = {2022}
}