Cart (Loading....) | Create Account
Close category search window
 

Design and Motion Planning of a Two-Module Collaborative Indoor Pipeline Inspection Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Young-Sik Kwon ; Dept. of Electron., Electr., Control & Instrum. Eng., Hanyang Univ., Seoul, South Korea ; Byung-Ju Yi

This paper deals with a design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80-100-mm pipelines in an indoor pipeline environment. The robot system uses a differential drive to steer the robot and spring loaded four-bar mechanisms to assure that the robot expands to grip the pipe walls. Unique features of this robot are the caterpillar wheels, the analysis of the four-bar mechanism supporting the treads, a closed-form kinematic approach, and an intuitive user interface. In addition, a new motion planning approach is proposed, which uses springs to interconnect two robot modules and allows the modules to cooperatively navigate through difficult segments of the pipes. Furthermore, an analysis method of selecting optimal compliance to assure functionality and cooperation is suggested. Simulation and experimental results are used throughout the paper to highlight algorithms and approaches.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 3 )

Date of Publication:

June 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.