@inproceedings{4d9d916411c54500b1ae9cfd79ba7182,
title = "Novel robot mechanism capable of 3D differential driving inside pipelines",
abstract = "In this paper, novel mechanisms for an in-pipe robot are presented. Multi-axial differential gear mechanism is designed to be driven with only single motor at any elbow-pipe without additional control efforts while all three wheels keep driving power. Brake system was added to prevent slip of wheel. Active wall pressing mechanism allows controlling the contact forces. And additional rescue mechanism is designed for emergency situation. Lastly, their effectiveness is experimentally validated.",
author = "Yang, \{Seung Ung\} and Kim, \{Ho Moon\} and Suh, \{Jung Seok\} and Choi, \{Yun Seok\} and Mun, \{Hyeong Min\} and Park, \{Chan Min\} and Hyungpil Moon and Choi, \{Hyouk Ryeol\}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
year = "2014",
month = oct,
day = "31",
doi = "10.1109/IROS.2014.6942820",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1944--1949",
booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",
}