Related papers: Pipe Climbing Robot
Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots,…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms,…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health…
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured…
This paper studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping…
Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs,…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
This paper reports a practical articulated wheeled in-pipe inspection robot "AIRo-7.1" which is waterproof and dustproof, and can adapt to 3 to 4 in inner diameters. The joint torque can be adjusted by a PWM open-loop control. The middle…