A Concept of a Walking Robot with Potential Use in Length and Angle Metrology
[ 1 ] Instytut Technologii Mechanicznej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ P ] employee
2024
chapter in monograph / paper
english
EN This paper presents the concept of a functional walking robot designed for potential applications in length and angle metrology, which have experienced rapid development in recent years, not only in terms of accuracy parameters but also in measurement capabilities. Walking robots represent a crucial area within the field of robotics, showcasing the potential to execute various tasks in challenging terrains and conditions where wheeled or tracked robots encounter limitations It outlines the design of the robot’s basic components, enabling it to navigate within bodies and pipe systems while collecting measurement data through a laser line or optical scanner. The paper also describes the development of specific electronics to control the robot. This was a dedicated solution, based on some commonly available elements. Gait algorithms, considered and applied to the robot, are discussed. Ground contact detection is introduced to facilitate efficient movement regardless of encountered obstacles. The software section covers essential algorithmic elements and variables. The system was used in laboratory with first tests outside, e.g. with measurement of long rails. For this no changes in construction are necessary.
16.07.2024
10 - 21
20