UMEMURA, Shoya (Ritsumeikan University), TANIGUCHI, Ryota (Ritsumeikan University), Kakogawa, Atsushi (Ritsumeikan University)

Development of a 3 in Sewer Pipe Inspection Robot with an Articulated Differential Mechanism Using X-Shaped Linkages

Scheduled for presentation during the Work-In-Progress "Interactive Session II: Work-in-Progress Papers" (FriPS1), Friday, July 17, 2026, 11:00−12:30, Event Hall

2026 23rd International Conference on Ubiquitous Robots (UR), July 15-18, 2026, Osaka, Japan

This information is tentative and subject to change. Compiled on October 15, 2026

Abstract

This paper proposes, an improved version of the 3 in sewer pipe inspection robot equipped with an emergency evacuation mechanism. The low traction force and poor step-over capability, which were challenges of the first version, have been improved by simply connecting the propulsion units. The coupled propulsion units feature a differential mechanism capable of posture changes via a single wire, enabling adaptation to pipe diameter variations. To traverse obstacles like pipe joints, a control method was devised that detects obstacle contact through current load on the drive wheel motors and slackens the wire. This method was verified through simulated pipe experiments. Load comparisons were made using current waveforms applied to the drive wheels. Our proposed control method significantly improved the step-over capability of the new articulated robots.