Automatic pipe negotiation control for snake-like robot

Akina Kuwada; Shuichi Wakimoto; Koichi Suzumori; Yudai Adomi

doi:10.1109/AIM.2008.4601721

Automatic pipe negotiation control for snake-like robot

Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, Yudai Adomi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

30 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 language	English
Title of host publication	Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages	558-563
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2008.4601721
Publication status	Published - Sep 30 2008
Event	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China Duration: Aug 2 2008 → Aug 5 2008

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Country/Territory	China
City	Xi'an
Period	8/2/08 → 8/5/08

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

Access to Document

10.1109/AIM.2008.4601721

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

Automatic pipe negotiation control for snake-like robot. / Kuwada, Akina; Wakimoto, Shuichi; Suzumori, Koichi; Adomi, Yudai.

Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008. 2008. p. 558-563 4601721 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4601721, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 558-563, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008, Xi'an, China, 8/2/08. https://doi.org/10.1109/AIM.2008.4601721

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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.

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Automatic pipe negotiation control for snake-like robot

Abstract

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Keywords

ASJC Scopus subject areas

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