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This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the…

This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…

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 own…

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…

This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…

This paper presents the design of an in-pipe climbing robot that operates using a novel `Three-output open differential'(3-OOD) mechanism to traverse complex networks of pipes. Conventional wheeled/tracked in-pipe climbing robots are prone…

We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…

Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…

Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By…

In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…

The paper introduces the novel Modular Pipe Climber III with a Three-Output Open Differential (3-OOD) mechanism to eliminate slipping of the tracks due to the changing cross-sections of the pipe. This will be achieved in any orientation of…

Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…

This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators.…

This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…

Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…

We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…

To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…

Exploration of confined spaces, such as pipelines and ducts, remains challenging for conventional rigid robots due to limited space, irregular geometry, and restricted access. Inspired by caterpillar locomotion and sensing, this paper…

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…

This paper presents the arrangement of an in-pipe climbing robot that works using a clever differential part to explore complex associations of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while…