ICRA 2014: In-pipe Robot with Underactuated Parallelogram Crawler Modules

This is an in-pipe robot with independent underactuated parallelogram crawler modules, which can automatically overcome inner obstacles in the pipes. The parallelogram crawler modules are adopted to maintain the anterior-posterior symmetry of forward and backward movements, and a simple differential mechanism based on a pair of spur gears is installed to provide underactuated mechanisms. A central base unit connects each crawler module through foldable pantograph mechanisms.

[An in-pipe robot with underactuated parallelogram crawler modules]
Published in: 2014 IEEE International Conference on Robotics and Automation (ICRA)
http://ieeexplore.ieee.org/document/6...
Date of Conference: 31 May-7 June 2014
Date Added to IEEE Xplore: 29 September 2014
Print ISSN: 1050-4729
INSPEC Accession Number: 14616529
DOI: 10.1109/ICRA.2014.6907078
Publisher: IEEE
Conference Location: Hong Kong, China

[Design of an underactuated parallelogram crawler module for an in-pipe robot]
Published in: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
http://ieeexplore.ieee.org/document/6...
Date of Conference: 12-14 Dec. 2013
Date Added to IEEE Xplore: 17 March 2014
INSPEC Accession Number: 14161750
DOI: 10.1109/ROBIO.2013.6739648
Publisher: IEEE
Conference Location: Shenzhen, China

Lab website
http://www.malab.se.ritsumei.ac.jp/

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