2P1-C17 A Novel Approach in Correcting the Tilt Angle of a Special 2D-Pipe Inspection Robot Platform using Material Morphology

概要

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The development of 2D-pipe inspection mobile robots requires design and development of a mobile robot platform equipped with the required sensors using for their navigation and their motion control inside of pipe. Correcting the robot tilt angle autonomously, without human interaction, can play an important role in simplification of the pipe inspection process in case of that the robot is derived inside of pipe networks including different types of pipe-bends such as curves and junctions. In this paper, after introducing a 2D-patented pipe inspection mobile robot platform, called "naSIR platform", we will describe, in detail, our novel approach in controlling of the developed robot platform tilt angle. The passive tilt correction of "naSIR platform" is accomplished by applying special wheel design in form of material morphology. The basic idea is inspired from robot-environment interaction and realized by applying different material for the rear robot wheels.
一般社団法人日本機械学会の論文
2008-06-06