Abstract
Truss structures can be found in many buildings and civil infrastructure such as bridges and towers. But as these architectures age, their maintenance is required to keep them structurally sound. A legged robotic solution capable of climbing these structures for maintenance is sought, but determining the size and shape of such a robot to maximise structure coverage is a challenging task. This paper proposes a model in which the size of a multi-legged robot is optimised for coverage in a truss structure. A detailed representation of a truss structure is presented, which forms the novel framework for constraint modelling. With this framework, the overall truss structure coverage is modelled, given a robot's size and its climbing performance constraints. This is set up as an optimisation problem, such that its solution represents the optimum size of the robot that satisfies all constraints. Three case studies of practical climbing applications are conducted to verify the model. By intuitive analysis of the model's output data, the results show that the model accurately applies these constraints in a variety of truss structures.
Original language | English |
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Title of host publication | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 3754-3760 |
Number of pages | 7 |
ISBN (Electronic) | 9781728162126 |
DOIs | |
Publication status | Published - 2020 |
Externally published | Yes |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2020 - Virtual, Las Vegas, United States of America Duration: 24 Jan 2021 → 24 Jan 2021 https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9340668/proceeding https://www.iros2020.org (Website) |
Publication series
Name | IEEE International Conference on Intelligent Robots and Systems |
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Publisher | IEEE, Institute of Electrical and Electronics Engineers |
ISSN (Print) | 2153-0858 |
ISSN (Electronic) | 2153-0866 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2020 |
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Abbreviated title | IROS 2020 |
Country/Territory | United States of America |
City | Las Vegas |
Period | 24/01/21 → 24/01/21 |
Internet address |