Learning Intelligent Controllers for Path-Following Skills on Snake-Like Robots

Marín, Francisco José Sánchez; Casillas, Jorge; Mucientes, Manuel; Transeth, Aksel Andreas; Fjerdingen, Sigurd Aksnes; Schjølberg, Ingrid

doi:10.1007/978-3-642-25489-5_51

Cited by 1 publication

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“…In order to adapt to the particular in-pipe environment, many of the modifications have been tried. One is to add weight and equip the robot with more wheels for climbing, taking MAKRO 10 and Piko 11,12 for example. As the number of wheels increases, the degrees of freedom and the complexity of control strategies also increase.…”

Section: Introductionmentioning

confidence: 99%

Design of in-pipe robot based on inertial positioning and visual detection

Song

et al. 2016

Advances in Mechanical Engineering

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The horizontal directional drilling technology is widely used to lay the underground pipelines. These pipelines are of small or medium diameters with a dip angle ranging from 10°to 20°, special pipelines to 30°. In-pipe robot is commonly used to detect the pipeline fault. A new type of telescopic in-pipe robot is designed in this article, which is driven by step motor and screw, and supported by wheels. The robot has advantages of waterproof grade of IP68, stable motion state, and larger traction force. The speed is between telescopic robots and wheeled robots. Through force analysis and calculation, its maximum climbing angle is larger than 35°. The robot has good passing ability through the pipelines with bends. The inertial technology is used to locate the robot under the condition of disturbances. The pipeline fault detection algorithm based on the visual identification technology is designed to detect the pipeline fault. It can not only achieve autonomic positioning but also detect the pipeline fault.

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Section: Introductionmentioning

confidence: 99%

Design of in-pipe robot based on inertial positioning and visual detection

Song

et al. 2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

Learning Intelligent Controllers for Path-Following Skills on Snake-Like Robots

Cited by 1 publication

References 10 publications

Design of in-pipe robot based on inertial positioning and visual detection

Design of in-pipe robot based on inertial positioning and visual detection

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