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This paper reviewed several previous papers on work that have been done on the development of in-pipe inspection robot for the last 20 years. By sorting the types of the inspection robots they can be divided into several groups according to their locomotion. Each prototype has its own advantages and disadvantages depending on its design requirements and purpose of inspection. The prototypes have been tested in several experiments in order to verify its functionality and efficiency of inspection task. Some of the researchers ran simulations to validate the kinematic and modeling the mechanism of their own prototype. Developing in-pipe inspection robot can overcome the issues of human factor in labour intensive or dangerous work and also to act in inaccessible environment during repair and maintaining inside the pipeline.I.

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Currently, there are many ongoing researches that are targeted at making robots more human-like. One of the tasks that can be done by humans easily but is difficult to be done by robots is writing. In this paper, we are presenting a flexible algorithm that can allow a robot to write. This algorithm is based on character segmentation, where the main idea is to store character information as segments and the segment information can then be used by the robot to write. We have also developed a sample application using the proposed algorithm to allow a Mitsubishi RV-2AJ robotic arm to write English characters and numbers. Through our experiment, it has been proven that the algorithm developed is able to allow the robotic arm to write.