Robotic system with active steering capability for internal inspection of urban gas pipelines

Choi, Hyouk Ryeol; Ryew, Sungmoo

doi:10.1016/s0957-4158(01)00022-8

Cited by 171 publications

(80 citation statements)

References 10 publications

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“…Most of them were designed for use on ground [5], [6], [7], [8], [9], a few were designed for swimming [10], [11], and even fewer for both water and ground [12], [13]. Their control architecture can roughly be divided into three categories: sine-based, model-based, and CPG-based.…”

Section: A Related Workmentioning

confidence: 99%

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Ijspeert

Crespi

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

115

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Abstract-This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the neural circuits controlling locomotion in the lamprey's spinal cord. The CPG model is implemented as a system of coupled nonlinear oscillators on board of the robot. The CPG generates coordinated travelling waves in real time while being interactively modulated by a human-operator. Interesting aspects of the CPG model include (1) that it exhibits limit cycle behavior (i.e. it produces stable rhythmic patterns that are robust against perturbations), (2) that the limit cycle behavior has a closed-form solution which provides explicit control over relevant characteristics such as frequency, amplitude and wavelength of the travelling waves, and (3) that the control parameters of the CPG can be continuously and interactively modulated by a human operator to offer high maneuverability. We demonstrate how the CPG allows one to easily adjust the speed and direction of locomotion both in water and on ground while ensuring that continuous and smooth setpoints are sent to the robot's actuated joints.

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Section: A Related Workmentioning

confidence: 99%

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Ijspeert

Crespi

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

115

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“…544, I-Tech, Vienna, Austria, EU, September 2007 2002; Suzumori et al, 1998;Kawaguchi et al, 1995;Suzumori, et al, 1999;Tsubouchi et al, 2000;Scholl et al, 2000;Mhramatsu et al, 2000;Ong et al, 2001;Choi & Ryew, 2002;Ryew et al, 2000;Roh et al, 2001;Roh et al, 2002;Roh et al, 2005;Schempf & Vradis, 2005;Schempf, 2002;Gamble & Wiesman, 1996). Fig.…”

Section: Introductionmentioning

confidence: 99%

“…2. The articulated type is the robot with active articulated joints physically similar to the snake or the annelid animal in nature which may be one of the most adequate mechanism, although its steering mechanism becomes complicated, for example steering joint (Scholl et al, 2000;Schempf & Vradis, 2005;Gamble & Wiesman, 1996) rubber gas actuated joint (Fukuda et al, 1989) and double active universal joint (Choi & Ryew, 2002;Ryew et al, 2000). These robots can move along branches.…”

Section: Introductionmentioning

confidence: 99%

“…In this chapter, we present a comprehensive work for moving inside pipelines with the inpipe robot, called the Multifunctional Robot for IN-pipe inspection (MRINSPECT) series, as shown in Fig. 3 (Choi & Ryew, 2002;Ryew et al, 2000;Roh et al, 2001;Roh et al, 2002;Roh et al, 2005). They have been developed for the inspection of urban gas pipelines with a nominal 8-in and 4-in inside diameter, respectively.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines

Choi¹,

Roh²

2007

Bioinspiration and Robotics Walking and Climbing Robots

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“…The description and modelling of crawler drives are complicated tasks that are impacted by various time-variable factors. Such issues as designing and building robots to inspect pipelines and various tanks are subject to numerous publications [3][4][5][6][7]. Also modelling of the kinetics of inspection robots of this type is subject to numerous scientific works [8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

et al. 2016

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Abstract:The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software and MES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

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Robotic system with active steering capability for internal inspection of urban gas pipelines

Cited by 171 publications

References 10 publications

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

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