Automatic pipe negotiation control for snake-like robot

Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, Yudai Adomi

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

27 Citations (Scopus)

Abstract

In this paper, the purpose is to realize selfpropelling ability of a snake like robot which travels in pipes. The robot consists of thirteen intelligent actuators and each actuator has a DC motor and a micro processor including a motor driver and communication function. Three control algorithms, force control, adjusting controls to changing pipe diameter and to curved pipe are proposed and programmed in the processors. As the experimental results, automatically the robot can negotiate several kinds of pipes such as different diameter, elbow shape, T branch shape and vertical setting without overloaded.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages558-563
Number of pages6
DOIs
Publication statusPublished - Sep 30 2008
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: Aug 2 2008Aug 5 2008

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
CountryChina
CityXi'an
Period8/2/088/5/08

Keywords

  • In-pipe inspection robot
  • Intelligent actuator
  • Snake like robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Automatic pipe negotiation control for snake-like robot'. Together they form a unique fingerprint.

  • Cite this

    Kuwada, A., Wakimoto, S., Suzumori, K., & Adomi, Y. (2008). Automatic pipe negotiation control for snake-like robot. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 558-563). [4601721] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601721