Kenya Murata

Vertical Bend and T-branch Travels of an Articulated Wheeled In-pipe Inspection Robot by Combining Its Joint Angle and Torque Controls

The paper reports the performance verification of vertical bend and T-branch travels of an articulated wheeled in-pipe inspection robot. The robot is composed of only a single active compliant middle joint, two passive compliant joints, three drive wheels, and two roll wheels. The passage of the ben…