X. Yamile Sandoval-Castro

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In this paper the kinematic analysis of a six‐legged robot, hereafter named Hex‐piderix, is carried out. A three revolute (3R) chain has been chosen for each limb in order to mimic the leg structure of an insect. The rotation matrix, with unitary vectors, and the Denavit‐Hartenberg (D‐H) conventions are used to find the pose of (More)
Cracking on surfaces as walls or roofs of a building results in a rapid deterioration of such structures. Access to these places is sometimes very difficult for people. One approach to solve such inconvenient is the use of climbing robots provided with sensing devices. In this paper, we propose a computer vision system using image analysis for inspection. A(More)
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