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

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摘要Navigation 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.
著者Xue Zhang, Flippy Tianle Pan, Ho Lam Heung, Philip Waiyan Chiu, Zheng Li
會議名稱2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
會議開始日01.10.2018
會議完結日05.10.2018
會議地點Madrid
會議國家/地區西班牙
會議論文集題名2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版年份2018
月份10
出版社IEEE
頁次7486 - 7491
國際標準書號978-1-5386-8094-0
國際標準期刊號2153-0858
語言美式英語

上次更新時間 2020-15-10 於 03:17