The present invention relates to a new pneumatic-actuated multifunctional doming actuator. The doming actuator can be used as a doming actuator, which can maintain machine/robotic operation on vertical surfaces without falling. The doming actuators exhibit rapid switchable adhesion/deadhesion on target surfaces upon pressurizing/depressurizing the embedded spiral pneumatic channels. The present invention also relates to novel load-carrying and climbing soft robots using the doming actuators. The soft robots are operable on a wide range of horizontal and vertical surfaces including dry, wet, slippery, smooth, and semi-smooth surfaces. In addition, the doming actuators can be used as a driving actuator for swimming soft robotics and as an actuator for soft grippers.

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

In mobile robot that runs from first flat surface which is a magnetic body to second flat surface which is a magnetic body and intersects the first flat surface, the mobile robot includes a pair of driving wheels which is rotatably supported to robot body and includes permanent magnets on outer circumferential surfaces thereof; driving mechanism which drives the pair of driving wheels to be independently rotated; rear wheel which is rotatably supported to the robot body and includes permanent magnets on an outer circumferential surface thereof; distance sensor which acquires a distance to the second flat surface; and pressing out mechanisms which include pressing out members which are movable between contact position at which the pressing out member can be in contact with the first flat surface and retracted position at which the pressing out member is retracted from the first flat surface. The pressing out member is moved from the retracted position to the contact position to be in contact with the first flat surface by the pressing out mechanism, the driving wheels is separated from the first flat surface, and the driving wheels move from the first flat surface to the second flat surface, when the distance sensor detects that the driving wheels are in contact with the second flat surface.

A cable climbing robot includes a climbing front body and a detection body. The climbing front body includes a front body rack, duct propellers, a front body clasping units and a front body control modules, the duct propellers are mounted on the outer side of the front body rack; the front body clasping unit includes a front body clasping electric motor, a front body clasping transmission component and a front body clasping member; the front body clasping electric motor is fixedly mounted on the front body rack, and the front body clasping electric motor drives the front body clasping member via the front body clasping transmission component; the front body control module is mounted on the front body rack, and the front body control module is electrically connected to the duct propellers and the clasping electric motor.

Various embodiments of a bio-inspired robot operable for detecting crack and corrosion defects in tubular structures are disclosed herein.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.