Development of mobile robot for moving inside containers and transporting flexible robots

1. Funding Agency

Korea Customs Service

2. Motivation

Cargo Inspection is to find out illegal items smuggled in containers. Despite its importance, only limited inspections are conducted. Since unloading and investigation take too long, inspection robots that can operate without unloading the freight would be beneficial.

3. Objectives

Development of a teleoperated flexible mobile inspection robot that traverses 50mm gaps, facilitates visual inspection, and enables specimen sampling.

4. Results

• Detachable Robot Head (Drilling and Sampling device)
• Tendon driven Translation Device
• System Integration and GUI for remote control

5. Related Publications

• Optimizing Setup Configuration of a Collaborative Robot Arm-Based Bimanual Haptic Display for Enhanced Performance
• Error-Domain Conservativity Control to Transparently Increase the Stability Range of Time-Discretized Controllers
• High-curvature consecutive tip steering of a soft growing robot for improved target reachability

6. Contact

• Seong-Su Park
• Donghyeon Choi