R. Okuma

Peristaltic Soft Robot for Long-distance Pipe Inspection with an Endoskeletal Structure for Propulsion and Traction Amplification

This study proposed a peristaltic motion-type inspection robot equipped with a "linear antagonistic mechanism using artificial muscles with an endoskeletal structure" to amplify propulsion and traction. We sought to develop an in-pipe inspection robot for long, narrow, and complex pipes requiring la…