3 accepted papers
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
This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a lar…
This study proposes a high-speed locomotion mechanism for a pipe-inspection robot. As a result of the narrow and complex structures of pipeline networks, it is difficult for robots to move quickly within the pipes. The new pneumatic mechanism proposed here realizes high-speed locomotion along with a…