A Biomimetic Soft Robot for Inspecting Pipeline with Significant Diameter Variation
Refereed conference paper presented and published in conference proceedings


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AbstractNavigation through tubular environment is fundamental in tasks such as pipeline inspection, gastrointestinal tract inspection, etc. Conventional pipeline inspection robots are mostly made by rigid materials and could not well adapt to the large size variation of the environment. Soft robots provide an additional solution for inspection of pipelines, especially with significant size variation. In this work, we present a soft robot for pipeline inspection, which consists of an earthworm-like soft robot and a Central Pattern Generator (CPG)-based control system. An analytical model is developed to predict the maximum pipe diameter that the robot could adapt to. For the current prototype, the robot could adapt to size change of three times. Experimental results show that this robot could navigate through pipelines with sharp turnings and with large diameter change.
All Author(s) ListXue Zhang, Flippy Tianle Pan, Ho Lam Heung, Philip Waiyan Chiu, Zheng Li
Name of Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start Date of Conference01/10/2018
End Date of Conference05/10/2018
Place of ConferenceMadrid
Country/Region of ConferenceSpain
Proceedings Title2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year2018
Month10
PublisherIEEE
Pages7486 - 7491
ISBN978-1-5386-8094-0
ISSN2153-0858
LanguagesEnglish-United States

Last updated on 2020-03-04 at 00:50