Abstract
The project of an eight legged robot for pipe inspections is presented. The mechanical design, the functional principle and the control concept are described. The latter includes the task distribution to the hierarchically organized controller levels and the methods used for the control of the leg forces and robot motion.
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© 1998 Springer-Verlag London Limited
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Roßmann, T., Pfeiffer, F. (1998). Control of an eight legged pipe crawling robot. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112974
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DOI: https://doi.org/10.1007/BFb0112974
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Publisher Name: Springer, Berlin, Heidelberg
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