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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2404.10938 |
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| _version_ | 1866911843371450368 |
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| author | Lee, Jaemin Kim, Jeeseop Ames, Aaron D. |
| author_facet | Lee, Jaemin Kim, Jeeseop Ames, Aaron D. |
| contents | This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller arms, and through the use of onboard perception, we integrate essential motion components including: locomotion, safe and dynamic transitions between trays, and intermediate motions that bridge a variety of motion primitives. Given the slippery and confined nature of column trays, it is critical to ensure safety of the robot during inspection, therefore we employ a safety filter and footstep re-planning based upon control barrier function representations of the environment. Our framework integrates all system components into a state machine encoding the developed safety-critical planning and control elements to guarantee safety-critical autonomy, enabling autonomous and safe navigation and inspection of distillation columns. Experimental validation in an environment, consisting of industrial-grade chemical distillation trays, highlights the effectiveness of our multi-layered architecture. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_10938 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms Lee, Jaemin Kim, Jeeseop Ames, Aaron D. Robotics This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller arms, and through the use of onboard perception, we integrate essential motion components including: locomotion, safe and dynamic transitions between trays, and intermediate motions that bridge a variety of motion primitives. Given the slippery and confined nature of column trays, it is critical to ensure safety of the robot during inspection, therefore we employ a safety filter and footstep re-planning based upon control barrier function representations of the environment. Our framework integrates all system components into a state machine encoding the developed safety-critical planning and control elements to guarantee safety-critical autonomy, enabling autonomous and safe navigation and inspection of distillation columns. Experimental validation in an environment, consisting of industrial-grade chemical distillation trays, highlights the effectiveness of our multi-layered architecture. |
| title | Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.10938 |