Motion control of a micro biped robot for nondestructive structure inspection

Chen Hongjun; Sheng Weihua; Xi Ning; Tan Jindong

doi:10.1109/ROBOT.2005.1570164

Motion control of a micro biped robot for nondestructive structure inspection

Chen Hongjun^*
, Sheng Weihua
, Xi Ning
, Tan Jindong

^*Corresponding author for this work

School of Electrical Engineering and Automation

Kettering University
Michigan State University
Michigan Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	478-483
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570164
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	18/04/05 → 22/04/05

Keywords

Biped robot
Motion control
Orientation estimation
Robot locating

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10.1109/ROBOT.2005.1570164

Cite this

Hongjun, C., Weihua, S., Ning, X., & Jindong, T. (2005). Motion control of a micro biped robot for nondestructive structure inspection. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 478-483). Article 1570164 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570164

@inproceedings{7717bbea95ba4eadac29bfbd0ffdd5a7,

title = "Motion control of a micro biped robot for nondestructive structure inspection",

abstract = "For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.",

keywords = "Biped robot, Motion control, Orientation estimation, Robot locating",

author = "Chen Hongjun and Sheng Weihua and Xi Ning and Tan Jindong",

year = "2005",

doi = "10.1109/ROBOT.2005.1570164",

language = "英语",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "478--483",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Hongjun, C, Weihua, S, Ning, X & Jindong, T 2005, Motion control of a micro biped robot for nondestructive structure inspection. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570164, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 478-483, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18/04/05. https://doi.org/10.1109/ROBOT.2005.1570164

Motion control of a micro biped robot for nondestructive structure inspection. / Hongjun, Chen; Weihua, Sheng; Ning, Xi et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 478-483 1570164 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Motion control of a micro biped robot for nondestructive structure inspection

AU - Hongjun, Chen

AU - Weihua, Sheng

AU - Ning, Xi

AU - Jindong, Tan

PY - 2005

Y1 - 2005

N2 - For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.

AB - For the aircraft structure inspection, this paper introduces a micro biped robot with inspection probe and wireless vision, analyzes the robot locomotion modes and dynamic models, and studies the motion control algorithm. Considering the movement flexibility caused by five degrees of freedom, a hierarchy structure is presented for the robot motion control system. For the long distance locating problem, a relay locating approach is presented to solve robot locating and to estimate the orientation of the robot by using vision and distance information from encoder and CAD model. The movement orientation can be adjusted rivet by rivet in the inspection process. The experimental results show that the control algorithm works well, and orientation estimation algorithm provides an acceptable orientation precision for continuous rivet inspection.

KW - Biped robot

KW - Motion control

KW - Orientation estimation

KW - Robot locating

UR - https://www.scopus.com/pages/publications/33846176599

U2 - 10.1109/ROBOT.2005.1570164

DO - 10.1109/ROBOT.2005.1570164

M3 - 会议稿件

AN - SCOPUS:33846176599

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 478

EP - 483

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

Motion control of a micro biped robot for nondestructive structure inspection

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