TY - GEN
T1 - Automatic pipe negotiation control for snake-like robot
AU - Kuwada, Akina
AU - Wakimoto, Shuichi
AU - Suzumori, Koichi
AU - Adomi, Yudai
PY - 2008/9/30
Y1 - 2008/9/30
N2 - 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.
AB - 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.
KW - In-pipe inspection robot
KW - Intelligent actuator
KW - Snake like robot
UR - http://www.scopus.com/inward/record.url?scp=52449117912&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449117912&partnerID=8YFLogxK
U2 - 10.1109/AIM.2008.4601721
DO - 10.1109/AIM.2008.4601721
M3 - Conference contribution
AN - SCOPUS:52449117912
SN - 9781424424955
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 558
EP - 563
BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Y2 - 2 August 2008 through 5 August 2008
ER -