TY - GEN
T1 - Development of an actively adaptable in-pipe robot
AU - Park, Jungwan
AU - Kim, Taehyun
AU - Yang, Hyunseok
PY - 2009
Y1 - 2009
N2 - This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.
AB - This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.
UR - http://www.scopus.com/inward/record.url?scp=67650286855&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650286855&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2009.4957174
DO - 10.1109/ICMECH.2009.4957174
M3 - Conference contribution
AN - SCOPUS:67650286855
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -