Development of an actively adaptable in-pipe robot

Jungwan Park, Taehyun Kim, Hyunseok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs
Publication statusPublished - 2009 Jul 17
EventIEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain
Duration: 2009 Apr 142009 Apr 17

Publication series

NameIEEE 2009 International Conference on Mechatronics, ICM 2009

Other

OtherIEEE 2009 International Conference on Mechatronics, ICM 2009
CountrySpain
CityMalaga
Period09/4/1409/4/17

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Park, J., Kim, T., & Yang, H. (2009). Development of an actively adaptable in-pipe robot. In IEEE 2009 International Conference on Mechatronics, ICM 2009 [4957174] (IEEE 2009 International Conference on Mechatronics, ICM 2009). https://doi.org/10.1109/ICMECH.2009.4957174