A snake-like robot for internal inspection of complex pipe structures (PIKo)

被引：83

作者：

Fjerdingen, Sigurd A. ^{[1
]}

Liljeback, Pal ^{[1
]}

Transeth, Aksel A. ^{[1
]}

机构：

[1] SINTEF ICT, Dept Appl Cybernet, N-7465 Trondheim, Norway

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

LOCOMOTION;

D O I：

10.1109/IROS.2009.5354751

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules inter-conected by two degree of freedom active joints. A set of active wheels on each module provides propulsion. Horizontal motion is achieved through a train-like scheme, while vertical motion is achieved through spanning the pipe alternatingly with the modules. The design and the capability of horizontal and vertical motion is validated through experiments.

引用

页码：5665 / 5671

页数：7

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