ICRA 2011 Paper Abstract

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Paper WeAV215.7

Dertien, Edwin (University of Twente), Stramigioli, Stefano (University of Twente), Pulles, Kees (Kiwa Gas Technology)

Basic Maneuvers for an Inspection Robot for Small Diameter Gas Distribution Mains

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:53−11:01, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Telerobotics, Robotics in Hazardous Fields, Compliant Joint/Mechanism

Abstract

This video shows the design of a mechanical structure of a miniature pipe inspection robot (MPR) capable of moving trough very small pipes (up to 41 mm inner diameter) as well as a wide range of diameters (63 to 125 mm outer diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. In this video the controlled robot is shown in action, driving in straight tubes, taking inclinations, doing a full rotation and taking a sharp bend.

 

 

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