Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

Dexterous robots have great potential to execute industrial tasks that are not suited to humans. In this work, a novel robotic mobility platform is proposed for use in the chemical industry to enable autonomous distillation column inspection-a tedious and dangerous task for humans. A roller arm mechanism is designed for a quadrupedal robot that enables moving across the distillation column. Required dynamic behaviors are generated with full-body motion planning and low-level control. The holistic process of mechanical design, planning, and control leads to desired behavior, as demonstrated by high-fidelity simulations. This marks a key step toward operating legged robots inside distillation columns.