Development of an adaptive mobile robot for in-pipe inspection task
Document Type
Conference Proceeding
Publication Date
12-18-2007
Abstract
For the purpose of performing internal inspection task of pipe, a robot based on adaptive mobile mechanism is developed. The robot equipped with one actuator has two working modes, a normal working mode and an assistant working mode. Robot under normal working mode performs monitoring tasks and travels in the pipe, while under assistant enhanced mode robot will surmount obstacle without any other driving actuator during executing tasks. The special feature is achieved by applying the adaptive mobile mechanism we proposed in this paper. A prototype has been set up and experiments have been conducted to testify the adaptability and efficiency of the robot. The results show that the robot can successfully climb up a step that is formed by concentric junction with a height of 5mm. © 2007 IEEE.
Publication Source (Journal or Book title)
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
First Page
3622
Last Page
3627
Recommended Citation
Li, P., Ma, S., Li, B., & Wang, Y. (2007). Development of an adaptive mobile robot for in-pipe inspection task. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, 3622-3627. https://doi.org/10.1109/ICMA.2007.4304148