2021
Modular Pipe Climber III with Three-Output Open Differential
Rama Vadapalli, Saharsh Agarwal, Vishnu Kumar, Kartik Suryavanshi, Nagamanikandan G, K Madhava Krishna
IROS 2021poster
The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of the robot. Previous pipe climbers use three-wheel/track modu…