Path planning of a four-legged robot system for crack diagnosis of rib structure of airplane wings

摘要

Crack diagnosis inside of the airplane wing is known necessary to prevent a possible breakage of wings. This work proposes a four-legged robotic system which is able to explore the wing and inspect the crack in the rib structure of the wing instead of human operators. A motion planning algorithm of the four-legged robot is described and a computer simulation is performed to corroborate its effectiveness.