2020
Pneumatic Duplex-Chambered Inchworm Mechanism for Narrow Pipes Driven by Only Two Air Supply Lines
RA-L 2020
Small in-pipe robots are key to improving pipe inspection procedures, especially for narrow diameters. However, robotic locomotion in such spaces, namely achieving a high locomotion performance with a narrow and flexible mechanism, is difficult. The novel in-pipe locomotion mechanism proposed in thi