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
Hlavní autoři:	Li, Jiawei, Liu, Zhaojin, Li, Sicen, Jiang, Jikai, Li, Yuxiao, Tian, Changda, Wang, Gang
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Elsevier B.V 01.12.2024
Témata:	Crawling robot Enhanced A algorithm Heat transfer tube inspection Motion planning Offline motion posture library Motion planning Offline motion posture library Heat transfer tube inspection Crawling robot Enhanced A algorithm
ISSN:	0926-5805
On-line přístup:	Získat plný text
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