An ultrasonically controlled robot submarine for pipe inspection

A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and...

Full description

Saved in:
Bibliographic Details
Main Authors: Nickols, F., Ho, D., Harrold, S.O., Bradbeer, R.T., Yeung, L.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Communication system control
Control systems
Engines
Inspection
Leg
Radio control
Robot control
Stability
Underwater vehicles
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed.
DOI:10.1109/MMVIP.1997.625310