Set-point Control for a Ground-based Reconfigurable Robot
Wei Cheah,Bruno Vilhena Adorno,Simon Watson,Barry Lennox,Wei Cheah,Bruno Vilhena Adorno,Simon Watson,Barry Lennox
Reconfigurable mobile robots are well suited for inspection tasks in legacy nuclear facilities where access is restricted and the environment is often cluttered. A reconfig-urable snake robot, MIRRAX, has previously been developed to investigate such facilities. The joints used for the robot's reconfiguration introduce additional constraints on the robot's control, such as balance, on top of the e...
