Design and control method for a high-mobility in-pipe robot with flexible links
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jeon, Woongsun | - |
dc.contributor.author | Kim, Inho | - |
dc.contributor.author | Park, Jungwan | - |
dc.contributor.author | Yang, Hyunseok | - |
dc.date.accessioned | 2024-01-09T08:32:33Z | - |
dc.date.available | 2024-01-09T08:32:33Z | - |
dc.date.issued | 2013 | - |
dc.identifier.issn | 0143-991X | - |
dc.identifier.issn | 1758-5791 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/70161 | - |
dc.description.abstract | Purpose - The purpose of this paper is to propose a high-mobility in-pipe robot platform and its navigation strategy for navigating in T-branch pipes efficiently. Design/methodology/approach - For high mobility, this robot is developed based on inchworm locomotion. An extensor mechanism with flexible links and clamper mechanisms enable the robot to conduct both steering and inchworm locomotion. The locomotion of the robot is modeled based on a pseudo-rigid-body model. From the developed model, this paper introduces a navigation strategy based on defining relay points and generating a path from a main pipe to a T-branch pipe. Findings - With this navigation strategy, the robot can avoid collisions and enter T-branch pipes effectively. The path generation algorithm is verified by experiment In addition, both the navigation strategy and mobility of the robot are demonstrated by experiments conducted in a commercial pipe configuration. Originality/value - This paper describes the mechanism of an inchworm-type in-pipe robot that is able to steer and adapt to pipe diameter changes. This paper also describes navigation strategy;that enables a robot to avoid collisions and enter T-branch pipes effectively. This research will help the construction of a fully autonomous in-pipe robot that can navigate through various types of pipes. | - |
dc.format.extent | 14 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | EMERALD GROUP PUBLISHING LTD | - |
dc.title | Design and control method for a high-mobility in-pipe robot with flexible links | - |
dc.type | Article | - |
dc.identifier.doi | 10.1108/01439911311309960 | - |
dc.identifier.bibliographicCitation | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, v.40, no.3, pp 261 - 274 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.wosid | 000319533900011 | - |
dc.identifier.scopusid | 2-s2.0-84880549040 | - |
dc.citation.endPage | 274 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 261 | - |
dc.citation.title | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | - |
dc.citation.volume | 40 | - |
dc.type.docType | Article | - |
dc.publisher.location | 영국 | - |
dc.subject.keywordAuthor | Robots | - |
dc.subject.keywordAuthor | Pipes | - |
dc.subject.keywordAuthor | In-pipe robot | - |
dc.subject.keywordAuthor | Inchworm locomotion | - |
dc.subject.keywordAuthor | Navigation strategy | - |
dc.subject.keywordAuthor | Path planning | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Engineering, Industrial | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
84, Heukseok-ro, Dongjak-gu, Seoul, Republic of Korea (06974)02-820-6194
COPYRIGHT 2019 Chung-Ang University All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.