TY - GEN
T1 - Hex-piderix
T2 - 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
AU - Sandoval-Castro, Xochitl Yamile
AU - Gracia-Murillo, Mario A.
AU - Paz, Jonny Paul Zavala De
AU - Castillo-Castaneda, Eduardo
PY - 2013
Y1 - 2013
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=84891359981&partnerID=8YFLogxK
M3 - Contribución a la conferencia
AN - SCOPUS:84891359981
SN - 9789814525527
T3 - Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
SP - 399
EP - 407
BT - Nature-Inspired Mobile Robotics
Y2 - 14 July 2013 through 17 July 2013
ER -