Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | IEEE 2009 International Conference on Mechatronics, ICM 2009 |
| DOIs | |
| Publication status | Published - 2009 Jul 17 |
| Event | IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain Duration: 2009 Apr 14 → 2009 Apr 17 |
Other
| Other | IEEE 2009 International Conference on Mechatronics, ICM 2009 |
|---|---|
| Country | Spain |
| City | Malaga |
| Period | 09/4/14 → 09/4/17 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
- Mechanical Engineering
Cite this
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Development of an actively adaptable in-pipe robot. / Park, Jungwan; Kim, Taehyun; Yang, Hyunseok.
IEEE 2009 International Conference on Mechatronics, ICM 2009. 2009. 4957174.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Development of an actively adaptable in-pipe robot
AU - Park, Jungwan
AU - Kim, Taehyun
AU - Yang, Hyunseok
PY - 2009/7/17
Y1 - 2009/7/17
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
SN - 9781424441952
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
ER -