2026
SPIRA: Small Gas Pipeline Inspection Robot with Spiral Leg-Wheel Mechanism and Single Bending Joint
ICRA 2026poster
Gas pipelines damaged by aging or earthquakes need a robotic system that can quickly inspect 50-mm-diameter service lines, consisting of horizontal and vertical pipes connected by elbow joints, tees, or sockets, from the inside. However, conventional pipe inspection robots do not target 50-mm pipes …