Ultra-lightweight anthropomorphic dual-arm rolling robot for dexterous manipulation tasks on linear infrastructures: A self-stabilizing system

This paper proposes the application of a very low weight (3.2 kg) anthropomorphic dual-arm system capable rolling along linear infrastructures such as power lines to perform dexterous and bimanual manipulation tasks like installation clip-type bird flight diverters or conduct contact-based inspection operations on pipelines detect corrosion leaks. The kinematic configuration arms, with three joints at shoulder one elbow, allows natural replication human movements these tasks, exploiting also redundancy maintain equilibrium while perching line. dynamic model is derived design self-stabilizing controller that maintains base arms an point. state-dependent Riccati equation (SDRE) chosen for this purpose since under-actuated contribution control gain (with nonlinear optimal structure) all states critical. SDRE extends margins stability in comparison ones. Simulation results show performs regulation point successfully evidence better performance respect quadratic regulator (LQR). validated outdoor testbed consisting line mockup, presenting experimental evaluate LQR controllers, demonstrating autonomous aerial deployment using multirotor platform.