Autonomous robot for movement in spaces between surfaces - has hierarchical system of control over jointed limbs enabling one to move while two others are braced against obstacles

摘要

The robot body with at least three double-jointed limbs (B) moves in an environment restricted by walls, and is guided by a central control (KS) with limb controls (BS) and an additional hand control. The central control predetermines a desired position and type of movement. Collisions are detectable, e.g. by tactile sensors coupled to the limb controls so that individual limbs can react individually to obstacles. Force and torque sensors and limb angular position encoders are also advantageous. USE/ADVANTAGE - Esp. in pipes or ducts accessible with difficulty for human inspectors, robot is navigable in confined spaces with high mobility and max. flexibility in overcoming obstacles.