This paper presents the kinematic analysis of the climbing walking robot Hex-piderix. It has 3DOF in each of the six legs, a suction cup for climbing vertical surfaces on each limb tip and a locomotion algorithm. The authors proposed a computer vision system that uses image analysis for inspection employing a mounted camera. It proposes an invariant method for illumination to detect cracks on surfaces. Imagesare improved dimming the light and calculating a threshold by binarizing it using the Otsu method. Finally, morphological operations are applied to highlight the crack.
展开▼
