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Título

Reconfiguration of a climbing robot in an all-terrain hexapod robot

AutorMena, Lisbeth; Montes, Héctor ; Fernández Saavedra, Roemi E. ; Sarria Paz, Javier F.
Palabras claveHexapod robot
Walking and climbing robot
SCARA configuration
Antipersonnel landmines
Control architecture
Fecha de publicación2016
EditorSpringer
CitaciónRobot 2015 Second Iberian Robotics Conference: Advances in Robotics, Volume 2 : 197-208 (2016)
ResumenThis work presents the reconfiguration from a previous climbing robot to an all-terrain robot for applications in outdoor environments. The original robot is a six-legged climbing robot for high payloads. This robot has used special electromagnetic feet in order to support itself on vertical ferromagnetic walls to carry out specific tasks. The reconfigured all-terrain hexapod robot will be able to perform different applications on the ground, for example, as inspection platform for humanitarian demining tasks. In this case, the reconfigured hexapod robot will load a scanning manipulator arm with a specific metal detector as end-effector. With the implementation of the scanning manipulator on the hexapod robot, several tasks about search and localisation of antipersonnel mines would be carried out. The robot legs have a SCARA configuration, which allows low energy consumption when the robot performs trajectories on a quasi-flat terrain.
Versión del editorhttp://dx.doi.org/10.1007/978-3-319-27149-1_16
URIhttp://hdl.handle.net/10261/129055
DOI10.1007/978-3-319-27149-1_16
ISBN978-3-319-27148-4
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