Abstract
In this paper, we present a robot system for inpipe inspection of underground urban gas pipelines. The robot is configured as an articulated structure like a snake with a tether cable. Two active driving vehicles are located in front and rear of the system, and passive modules such as a control module are chained between the active vehicles. The proposed robot has outstanding mobility offered by a new steering mechanism called double active universal joint, which makes it possible to cope with complicated configurations of underground pipelines. Characteristic features of the system are described and the construction of the system is briefly outlined.
| Original language | English |
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| Pages | 1652-1657 |
| Number of pages | 6 |
| State | Published - 2000 |
| Event | 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan Duration: 31 Oct 2000 → 5 Nov 2000 |
Conference
| Conference | 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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| Country/Territory | Japan |
| City | Takamatsu |
| Period | 31/10/00 → 5/11/00 |