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A snake-like robot for internal inspection of complex pipe structures (PIKo)

Abstract

This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set of active wheels on each module provides propulsion. Horizontal motion is achieved through a train-like scheme, while vertical motion is achieved through spanning the pipe alternatingly with the modules. The design and the capability of horizontal and vertical motion is validated through experiments.
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Category

Academic chapter

Language

English

Author(s)

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • Norwegian University of Science and Technology

Year

2009

Publisher

IEEE (Institute of Electrical and Electronics Engineers)

Book

IEEE/RSJ International Conference on Intelligent Robots and Systems

ISBN

9781424438044

Page(s)

5665 - 5671

View this publication at Norwegian Research Information Repository