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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Veröffentlicht in:	Automation in construction Jg. 168; S. 105753
Hauptverfasser:	Li, Jiawei, Liu, Zhaojin, Li, Sicen, Jiang, Jikai, Li, Yuxiao, Tian, Changda, Wang, Gang
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier B.V 01.12.2024
Schlagworte:	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
Online-Zugang:	Volltext
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