TY - CHAP
T1 - HEX-PIDERIX
T2 - A six-legged walking climbing robot to perform inspection tasks on vertical surfaces
AU - Sandoval-Castro, Xochitl Yamile
AU - Gracia-Murillo, Mario A.
AU - Zavala-De Paz, Jonny Paul
AU - Castillo-Castaneda, Eduardo
N1 - Publisher Copyright:
© 2013 by World Scientific Publishing Co. Pte. Ltd. All rights reserved.
PY - 2013/1/1
Y1 - 2013/1/1
N2 - This paper presents the kinematic analysis of the climbing walking robot Hex-piderix. It has 3DOF in each of the six legs, a suction cup for climbing vertical surfaces on each limb tip and a locomotion algorithm. The authors proposed a computer vision system that uses image analysis for inspection employing a mounted camera. It proposes an invariant method for illumination to detect cracks on surfaces. Imagesare improved dimming the light and calculating a threshold by binarizing it using the Otsu method. Finally, morphological operations are applied to highlight the crack.
AB - This paper presents the kinematic analysis of the climbing walking robot Hex-piderix. It has 3DOF in each of the six legs, a suction cup for climbing vertical surfaces on each limb tip and a locomotion algorithm. The authors proposed a computer vision system that uses image analysis for inspection employing a mounted camera. It proposes an invariant method for illumination to detect cracks on surfaces. Imagesare improved dimming the light and calculating a threshold by binarizing it using the Otsu method. Finally, morphological operations are applied to highlight the crack.
UR - http://www.scopus.com/inward/record.url?scp=84967355670&partnerID=8YFLogxK
U2 - 10.1142/9789814525534_0051
DO - 10.1142/9789814525534_0051
M3 - Capítulo
SN - 9789814525527
SP - 399
EP - 407
BT - Nature-Inspired Mobile Robotics
PB - World Scientific Publishing Co.
ER -