Snake-like robot negotiating three-dimensional pipelines

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

doi:10.1109/ROBIO.2007.4522298

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 proceeding › Conference contribution

21 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 language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	989-994
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522298
Publication status	Published - Jan 1 2007
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: Dec 15 2007 → Dec 18 2007

Publication series

Name	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Yalong Bay, Sanya
Period	12/15/07 → 12/18/07

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Biomaterials

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10.1109/ROBIO.2007.4522298

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). Article 4522298 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522298

Snake-like robot negotiating three-dimensional pipelines. / Kuwada, Akina; Adomi, Yudai; Suzumori, Koichi et al.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 989-994 4522298 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

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

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., 4522298, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, pp. 989-994, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 12/15/07. https://doi.org/10.1109/ROBIO.2007.4522298

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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].",

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Snake-like robot negotiating three-dimensional pipelines

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