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

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

doi:10.1007/978-3-032-01486-3_37

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

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

^*Corresponding author for this work

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings
Editors	Ana Cavalcanti, Simon Foster, Robert Richardson
Publisher	Springer Nature
Pages	489-503
Number of pages	15
ISBN (Print)	9783032014856
DOIs	https://doi.org/10.1007/978-3-032-01486-3_37
Publication status	Published - Oct 2025
Event	26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025 - York, United Kingdom Duration: 20 Aug 2025 → 22 Aug 2025

Publication series

Name	Lecture Notes in Computer Science
Volume	16045 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025
Country/Territory	United Kingdom
City	York
Period	20/08/25 → 22/08/25

Keywords

Autonomous Navigation
Climbing Robotics
Fusion Energy

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-032-01486-3_37

Cite this

Reade, S., Nair, M., Rai, M. C., Klimchik, A., Hanheide, M., Tabia, B., & Skilton, R. (2025). Fusion Robotics: Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning. In A. Cavalcanti, S. Foster, & R. Richardson (Eds.), Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings (pp. 489-503). (Lecture Notes in Computer Science; Vol. 16045 LNAI). Springer Nature. https://doi.org/10.1007/978-3-032-01486-3_37

Reade, Sarah ; Nair, Manu ; Rai, Mini C. et al. / Fusion Robotics : Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning. Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. editor / Ana Cavalcanti ; Simon Foster ; Robert Richardson. Springer Nature, 2025. pp. 489-503 (Lecture Notes in Computer Science).

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

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{\textquoteright}s capability to locomote effectively under its own weight, validating its potential for use in the decommissioning of the Joint European Torus.",

keywords = "Autonomous Navigation, Climbing Robotics, Fusion Energy",

author = "Sarah Reade and Manu Nair and Rai, \{Mini C.\} and Alexandr Klimchik and Marc Hanheide and Bechir Tabia and Robert Skilton",

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Reade, S, Nair, M, Rai, MC, Klimchik, A, Hanheide, M, Tabia, B & Skilton, R 2025, Fusion Robotics: Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning. in A Cavalcanti, S Foster & R Richardson (eds), Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. Lecture Notes in Computer Science, vol. 16045 LNAI, Springer Nature, pp. 489-503, 26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025, York, United Kingdom, 20/08/25. https://doi.org/10.1007/978-3-032-01486-3_37

Fusion Robotics: Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning. / Reade, Sarah; Nair, Manu; Rai, Mini C. et al.
Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. ed. / Ana Cavalcanti; Simon Foster; Robert Richardson. Springer Nature, 2025. p. 489-503 (Lecture Notes in Computer Science; Vol. 16045 LNAI).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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AU - Reade, Sarah

AU - Nair, Manu

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AU - Hanheide, Marc

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AU - Skilton, Robert

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N2 - 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.

AB - 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.

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Reade S, Nair M, Rai MC, Klimchik A, Hanheide M, Tabia B et al. Fusion Robotics: Analysing Mobility Modes of an End-Over-End Walking Manipulator for Maintenance and Decommissioning. In Cavalcanti A, Foster S, Richardson R, editors, Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. Springer Nature. 2025. p. 489-503. (Lecture Notes in Computer Science). doi: 10.1007/978-3-032-01486-3_37