Motion planning for a quadruped robot in heat transfer tube inspection
Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot i...
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| Vydáno v: | Automation in construction Ročník 168; s. 105753 |
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| Jazyk: | angličtina |
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Elsevier B.V
01.12.2024
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| ISSN: | 0926-5805 |
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| Abstract | Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.
•A quadruped robot designed for inspecting heat transfer tubes.•A robot motion posture library tailored to tube sheet environments.•An enhanced A* algorithm for the motion planning.•Experiments were conducted on an actual SG tube sheet. |
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| AbstractList | Steam generators (SGs) are essential in nuclear power facilities and require regular inspection to maintain their safety and operational effectiveness. This paper presents a quadruped robot designed to inspect SG heat-transfer tubes. The point-to-point crawling-motion planning problem of the robot is addressed by integrating an improved A* algorithm with an offline motion-posture library established for the tube-sheet environment. The planner can provide the global path, the step size for each crawling cycle, and the strategic placement of footholds. The proposed method can facilitate the robot in navigating obstacles on a tube sheet, seamlessly adapt to various postures and step lengths, and eliminate the necessity for turning or superfluous posture adjustments, thereby ensuring crawling efficiency. The efficacy of the proposed planner is validated rigorously through simulations and experimental trials using an actual SG tube sheet.
•A quadruped robot designed for inspecting heat transfer tubes.•A robot motion posture library tailored to tube sheet environments.•An enhanced A* algorithm for the motion planning.•Experiments were conducted on an actual SG tube sheet. |
| ArticleNumber | 105753 |
| Author | Liu, Zhaojin Tian, Changda Jiang, Jikai Li, Sicen Wang, Gang Li, Jiawei Li, Yuxiao |
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| Cites_doi | 10.1016/j.esr.2021.100630 10.1016/j.mechmachtheory.2022.104917 10.1177/0278364911406761 10.3390/app13148174 10.5772/62248 10.1177/0278364912461537 10.1016/j.procs.2018.01.113 10.1515/corrrev-2020-0015 10.1109/LRA.2018.2798285 10.1177/0278364910390537 10.1109/LRA.2022.3192657 10.1016/j.autcon.2023.105046 10.1016/j.asoc.2020.106960 10.1016/j.engfailanal.2021.105798 10.1109/LRA.2023.3290819 |
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| Keywords | Motion planning Offline motion posture library Heat transfer tube inspection Crawling robot Enhanced A algorithm |
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| Title | Motion planning for a quadruped robot in heat transfer tube inspection |
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