Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes

This article proposes an automatic T-branch travel method of an articulated wheeled in-pipe inspection robot, AIRo-5.2, using its joint angle response to environmental changes. The robot joints are composed of two passive elastic joints with torsional springs and a single active joint using a polyur...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2023-07, Vol.70 (7), p.7041-7050
Main Authors: Kakogawa, Atsushi, Murata, Kenya, Ma, Shugen
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Dynamic models
Field robots
Inspection
inspection robots
Mechanical properties
mechanism design
Mobile robots
Pipes
Polyurethane resins
Potentiometers
redundant robots
Robots
search and rescue robots
Springs
Springs (elastic)
Switches
torque sensor
Wheels
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