Fusion Robotics: Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning

Sarah Reade, Manu H. Nair, Mini C. Rai, Alexandr Klimchik, Marc Hanheide, Bechir Tabia, Robert Skilton

Abstract: This paper evaluates mobility methods for the End-over-end Walking manipulator (E-Walker) in the context of fusion robotics. Three walking approaches were analysed (end-over-end, inchworming, and swinging motions) using an Isaac Sim environment. Torque was measured at each joint and used to compare the energy and time efficiency for each method. End-over-end was found to be the most efficient for both metrics, with a ground speed nearly three times that of inchworming and requiring 46% less energy. These results demonstrate the E-Walker’s capability to locomote effectively under its own weight, validating its potential for use in the decommissioning of the Joint European Torus.