Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task

S. Selvakumaran; A. A. Hayat; K. Elangovan; K. Manivannan; M. R. Elara

doi:10.1007/978-981-99-0236-1_37

Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task

S. Selvakumaran, A. A. Hayat, K. Elangovan, K. Manivannan, M. R. Elara

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Inspection and surveillance of the false ceiling are critical for maintaining a safe, clean, and healthy interior environment free of pests. The pest management industry is evolving and coming up with intelligent solutions. This paper introduces the conceptual design of the robot named FalconRCC designed to navigate efficiently in the false-ceiling environment. The designed robot is capable of rolling, crawling, and climbing walls. The modular design for the robot is presented in the context of the design requirements for the false-ceiling inspection task. For wall climbing, the robot uses micro-suction cups to hold the smooth surface. Moreover, the rolling and crawling action is supported by the gaits generated using the four legs, each connected using three degrees of freedom joint with the body. Finally, the adequacy of the design is presented with simulated gate patterns and experimental results.

Original language	English
Title of host publication	Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022
Editors	Hariharan Muthusamy, János Botzheim, Richi Nayak
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	467-477
Number of pages	11
ISBN (Print)	9789819902354
DOIs	https://doi.org/10.1007/978-981-99-0236-1_37
Publication status	Published - 2023
Externally published	Yes
Event	International Conference on Robotics, Control, and Computer Vision, ICRCCV 2022 - Virtual, Online Duration: Feb 19 2022 → Feb 20 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1009 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Robotics, Control, and Computer Vision, ICRCCV 2022
City	Virtual, Online
Period	2/19/22 → 2/20/22

Keywords

False ceiling
Inspection
Pest control
Reconfigurabel robot

ASJC Scopus subject areas

Industrial and Manufacturing Engineering

Access to Document

10.1007/978-981-99-0236-1_37

Cite this

Selvakumaran, S., Hayat, A. A., Elangovan, K., Manivannan, K., & Elara, M. R. (2023). Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task. In H. Muthusamy, J. Botzheim, & R. Nayak (Eds.), Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022 (pp. 467-477). (Lecture Notes in Electrical Engineering; Vol. 1009 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0236-1_37

Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task. / Selvakumaran, S.; Hayat, A. A.; Elangovan, K. et al.
Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022. ed. / Hariharan Muthusamy; János Botzheim; Richi Nayak. Springer Science and Business Media Deutschland GmbH, 2023. p. 467-477 (Lecture Notes in Electrical Engineering; Vol. 1009 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Selvakumaran, S, Hayat, AA, Elangovan, K, Manivannan, K & Elara, MR 2023, Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task. in H Muthusamy, J Botzheim & R Nayak (eds), Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022. Lecture Notes in Electrical Engineering, vol. 1009 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 467-477, International Conference on Robotics, Control, and Computer Vision, ICRCCV 2022, Virtual, Online, 2/19/22. https://doi.org/10.1007/978-981-99-0236-1_37

Selvakumaran S, Hayat AA, Elangovan K, Manivannan K, Elara MR. Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task. In Muthusamy H, Botzheim J, Nayak R, editors, Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 467-477. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0236-1_37

Selvakumaran, S. ; Hayat, A. A. ; Elangovan, K. et al. / Design of a Self-reconfigurable Robot with Roll, Crawl, and Climb Features for False Ceiling Inspection Task. Robotics, Control and Computer Vision - Select Proceedings of ICRCCV 2022. editor / Hariharan Muthusamy ; János Botzheim ; Richi Nayak. Springer Science and Business Media Deutschland GmbH, 2023. pp. 467-477 (Lecture Notes in Electrical Engineering).

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