A micro snake-like robot for small pipe inspection

Wakimoto, Suichi; Nakajima, Jun; Takata, Masashi; Kanda, Takefumi; Suzumori, Koichi

doi:10.1109/mhs.2003.1249959

Cited by 46 publications

(26 citation statements)

References 5 publications

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“…The nature of travelling wave locomotion in snake robots can make it difficult for sensors to take stable readings of their environment (S. Wakimoto et al 2003). As pipelines are generally uniform and structured environments, the complexity of legged and snake robots may not be required for this application, especially since robots with simpler locomotion methods have demonstrated their ability to navigate the various features in pipelines.…”

Section: Snake and Legged Robotsmentioning

confidence: 99%

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Bekhit¹,

Dehghani²,

Richardson³

2012

IJMEM

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Section: Snake and Legged Robotsmentioning

confidence: 99%

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Bekhit¹,

Dehghani²,

Richardson³

2012

IJMEM

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“…x and C are called the wave length and the offset, respectively. The wave length is usually set to be six, or six links form one wave in other words, because previous researches showed that this drive method realized the optimum robot motion [6]- [8]. This is called a 6-link wave drive.…”

Section: A Driving Principlementioning

confidence: 99%

“…To realizing these points, many types of small pipe inspection robots have been developed [1]- [3]. The authors proposed a "sinusoidal wave drive" mechanism and developed snake-like in-pipe inspection robots [4]- [8]. The snake-like robot forms sinusoidal waves and obtains propelling force by gripping the internal wall of pipe.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Snake-like robot negotiating three-dimensional pipelines

Kuwada

Adomi

Suzumori

et al. 2007

2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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An in-pipe robot negotiating three dimensional pipelines including branches, elbows, vertical pipes, and diameter-changing pipes was developed. The robot consists of thirteen intelligent actuators, and applying the sinusoidal wave drive makes the robot form sinusoidal waves to obtain the propelling force by gripping pipe walls. In this paper, a newly developed micro servo controller mounted on each intelligent actuator and a newly developed rotational mechanism which controls the robot posture around the pipe axis are shown. These made the robot propel itself successfully in the three-dimensional pipelines and have the great adaptability to pipe diameter change from 40.0 to 205.0 [mm].

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“…In consequence a huge number of biological inspired robots have recently been presented e.g. in [1], [2] or [3]. In many cases problem solving strategies of nature can be analogical translated to technical questions.…”

Section: Introductionmentioning

confidence: 99%

TRoBS — a biological inspired robot

Schmitt

Löchte

Raatz

et al. 2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TROBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement permit a variable degree of freedom (DoF) depending on the number of segments. The joints have a similar working principle as revolute joints.In order to show the functionality of the robot, the mechanical structure, the benefits of compliant joints as well as a method of kinematic modelling are presented. Another focus is placed on the actuation principle. The robot is actuated by SMA wires formed like springs, which provide advantages in design as well as in control aspects. Due to the high modularity of the mechanism, the robot is arbitrarily extendable and so adoptable for several applications.978-1-4244-4775-6/09/$25.00

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A micro snake-like robot for small pipe inspection

Cited by 46 publications

References 5 publications

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Kinematic Analysis and Locomotion Strategy of a Pipe Inspection Robot Concept for Operation in Active Pipelines

Snake-like robot negotiating three-dimensional pipelines

TRoBS — a biological inspired robot

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