Power line inspection and maintenance already benefit from developments in mobile
robotics. This paper presents a comprehensive review of the state of the art. It focuses on …

Power line inspection and maintenance practices are evolving as changing market
regulations, significantly increased line loading and system availability requirements put …

This paper describes the design and modeling of a robot that swings on the end of a tether.
Its height above the ground is controlled by the length of the tether. Its location on a …

In this research we focus on locomotive robots that move to a target location. In particular,
we developed a new brachiation robot with a simple mechanism. The robot uses a hook …

This paper proposes a nonlinear optimal control approach for mulitple degrees of freedom
(DOF) brachiation robots, which are often used in inspection and maintenance tasks of the …

In this paper we present a comparative study of two actuation schemes for underactuated
brachiation robots, using the nonlinear model based predictive control (MPC) technique to …

Currently, the power industry in Brazil is a system with many public and private companies
competing by market rules and regulated by an specific agency (ANEEL). The legal mark for …

This paper presents a software library developed to implement model predictive control
(MPC) strategies in real-time. By using MPC, an appropriate optimal control law is implicitly …

Hot-line Maintenance Robots are widely applied to the repair and maintenance of the
transmission lines and electrical equipment. Hot-line operation tasks tend to complexity …

Brachiation is a means of locomotion for lightweight apes like gibbons. It involves the animal
swinging its arms to gain moment and swing forward. A large amount of research has been …