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This paper presents a climbing robot based in wheel locomotion and magnetic adherence, a common mechanical topology applicable to a wide range of industrial tasks. The robot is applied to perform(More)
This paper presents a novel approach to inspection planning in spherical storage tanks by an autonomous climbing robot. The objective is the automatic extraction of some environment characteristics,(More)
This work presents a scheduled fuzzy controllers for an autonomous inspection robot designed to work inside and outside spherical storage tanks. The robot is designed with four fully steerable(More)