Bridge risk investigation diagnostic grouped exploratory (BRIDGE) bot
Aaron Sirken, Gedaliah Knizhnik, Jessica McWilliams, Sarah Bergbreiter
Abstract
BRIDGE bot is a 158 g, 10.7 × 8.9 × 6.5 cm3, magnetic-wheeled robot designed to traverse and inspect steel bridges. Utilizing custom magnetic wheels, the robot is able to securely adhere to the bridge in any orientation. The body platform features flexible, multi-material legs that enable a variety of plane transitions as well as robot shape manipulation. The robot is equipped with a Cortex-M0 processor, inertial sensors, and a modular wireless radio. A camera is included to provide images for detection and evaluation of identified problems. The robot has been demonstrated moving through plane transitions from 45° to 340° as well as over obstacles up to 9.5 mm in height. Preliminary use of sensor feedback to improve plane transitions has also been demonstrated.
BibTeX
@inproceedings{iros2017_bridgeriskinvest,
title = {Bridge risk investigation diagnostic grouped exploratory (BRIDGE) bot},
author = {Aaron Sirken and Gedaliah Knizhnik and Jessica McWilliams and Sarah Bergbreiter},
booktitle = {IROS 2017},
year = {2017}
}