A snake-like robot for internal inspection of complex pipe structures (PIKo)
Chapter
Accepted version
Permanent lenke
http://hdl.handle.net/11250/2497961Utgivelsesdato
2009Metadata
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Originalversjon
10.1109/IROS.2009.5354751Sammendrag
This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set of active wheels on each module provides propulsion. Horizontal motion is achieved through a train-like scheme, while vertical motion is achieved through spanning the pipe alternatingly with the modules. The design and the capability of horizontal and vertical motion is validated through experiments.