Journal
ADVANCED ROBOTICS
Volume 34, Issue 2, Pages 70-88Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2019.1680316
Keywords
Articulated mobile robot; snake robot; plant inspection; stairs
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In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.
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