Scipediacontent: Scipediacontent moved page Draft Content 425737892 to Moser et al 2007a

2021-01-28T17:57:38Z

Scipediacontent moved page Draft Content 425737892 to Moser et al 2007a

Scipediacontent: Created page with " == Abstract == This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with comple..."

2021-01-28T17:57:36Z

Created page with " == Abstract == This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with comple..."

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== Abstract ==

This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with complex shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slightly lifting off the wheel in order to locally decrease the magnetic force, as well as laterally stabilizing the wheel unit. The robot has the main advantage to be compact and mechanically simple. It features 5 active degrees of freedom: 2 driven wheels each equipped with an active lifter-stabilizer and 1 steering unit. This paper also presents the design and implementation of a prototype robot and its high mobility is shown. It is able to pass 90deg convex and concave obstacles with any inclination regarding the gravity. Finally, it only requires limited space to maneuver, since turning on spot around the rear wheel is possible.

== Original document ==

The different versions of the original document can be found in:

* [http://dx.doi.org/10.3929/ethz-a-010038398 http://dx.doi.org/10.3929/ethz-a-010038398]

* [http://hdl.handle.net/20.500.11850/9106 http://hdl.handle.net/20.500.11850/9106]

* [http://infoscience.epfl.ch/record/109942 http://infoscience.epfl.ch/record/109942]

* [https://www.research-collection.ethz.ch/bitstream/20.500.11850/9106/1/eth-7825-01.pdf https://www.research-collection.ethz.ch/bitstream/20.500.11850/9106/1/eth-7825-01.pdf]

* [http://xplorestaging.ieee.org/ielx5/4398943/4398944/04399116.pdf?arnumber=4399116 http://xplorestaging.ieee.org/ielx5/4398943/4398944/04399116.pdf?arnumber=4399116],
: [http://dx.doi.org/10.1109/iros.2007.4399116 http://dx.doi.org/10.1109/iros.2007.4399116]

* [https://dblp.uni-trier.de/db/conf/iros/iros2007.html#TacheFSMM07 https://dblp.uni-trier.de/db/conf/iros/iros2007.html#TacheFSMM07],
: [https://infoscience.epfl.ch/record/109942/files/MagneticWheelRobotIros07.pdf https://infoscience.epfl.ch/record/109942/files/MagneticWheelRobotIros07.pdf],
: [http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000004399116 http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000004399116],
: [https://ieeexplore.ieee.org/document/4399116 https://ieeexplore.ieee.org/document/4399116],
: [http://ieeexplore.ieee.org/document/4399116 http://ieeexplore.ieee.org/document/4399116],
: [https://dx.doi.org/10.1109/IROS.2007.4399116 https://dx.doi.org/10.1109/IROS.2007.4399116],
: [https://doi.org/10.1109/IROS.2007.4399116 https://doi.org/10.1109/IROS.2007.4399116],
: [https://www.research-collection.ethz.ch/handle/20.500.11850/9106 https://www.research-collection.ethz.ch/handle/20.500.11850/9106],
: [https://academic.microsoft.com/#/detail/2113642395 https://academic.microsoft.com/#/detail/2113642395]

DOIS: 10.3929/ethz-a-010038398 10.1109/iros.2007.4399116

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Moser et al 2007a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 425737892 to Moser et al 2007a

Scipediacontent: Created page with " == Abstract == This paper describes a compact robot with two magnetic wheels in a bicycle arrangement, which is intended for inspecting the inner casing of pipes with comple..."