Abstract: Since the period of high economic growth, the deterioration of social infrastructure, such as bridges and tunnels, has become increasingly serious. To prevent ageing, this infrastructure requires periodic inspection and repair; however, inspection is costly and time-consuming and, hence, there is a strong demand for practical bridge inspection robots to reduce the associated cost and time of inspections. The bridge inspection robot BIREM-IV, as developed in a previous study, uses magnetic rimless wheel and is capable of free movement in steel structures, exhibiting a high running performance. However, because autonomous driving is desired for the practical bridge inspection robot BIREM-IV, it is necessary to install inspection devices — such as sensors and cameras.....
Key Word: Bridge inspection, Four-wheel driving robot, Magnetic wheel
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