Snake-like robot negotiating three-dimensional pipelines

Akina Kuwada, Yudai Adomi, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto, Nobuhiro Kadowaki

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

17 Citations (Scopus)

Abstract

An in-pipe robot negotiating three dimensional pipelines including branches, elbows, vertical pipes, and diameter-changing pipes was developed. The robot consists of thirteen intelligent actuators, and applying the sinusoidal wave drive makes the robot form sinusoidal waves to obtain the propelling force by gripping pipe walls. In this paper, a newly developed micro servo controller mounted on each intelligent actuator and a newly developed rotational mechanism which controls the robot posture around the pipe axis are shown. These made the robot propel itself successfully in the three-dimensional pipelines and have the great adaptability to pipe diameter change from 40.0 to 205.0 [mm].

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages989-994
Number of pages6
ISBN (Print)9781424417582
DOIs
Publication statusPublished - Jan 1 2007
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: Dec 15 2007Dec 18 2007

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period12/15/0712/18/07

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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  • Cite this

    Kuwada, A., Adomi, Y., Suzumori, K., Kanda, T., Wakimoto, S., & Kadowaki, N. (2007). Snake-like robot negotiating three-dimensional pipelines. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 989-994). [4522298] (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522298