A small legged robot for inspection purposes

Abstract

Streszczenie The paper deals with mobile robots with special emphasis on walking robots. A review of applications of particular types of mobile robots in various applications has been carried out. The validity of the use of walking robots in inspection tasks has been analyzed. A list of commercially available solutions has been presented and their parameters compared. A concept of a miniature walking robot for inspection tasks requiring operation in a confined space has been proposed. The design of the prototype, the structural solutions used, the system diagram and the structure of the control algorithms are presented. Conclusions and observations on the design process are presented. A set of modifications and solutions enabling the application of the robot in real inspection conditions have been proposed. The validity of the presented concept has been analyzed.