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This paper presents a bi-brachiate robot for the inspection tasks of the high voltage power transmission line (HVPTL). The robot adopts a turning around method to get across the component (obstacles for the robot) installed on the HVPTL, and the process of the obstacle negotiation is expressed in detail. A simplified two-link model of the robot during(More)
This paper presents the framework, modeling, controller design, simulation and experiment results of a bi-brachiate inspection robot, which is designed to inspect the high voltage power transmission lines. A bionic structure is adopted for the mechanical design of the inspection robot. It has two multi-joint arms with a claw and a wheel on the top of each(More)
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