Pace pattern generation for an pipeline robot

Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

“…Some of the walking robot designs are shown in papers [11][12][13][14][15][16][17]. In works [11][12][13] an eight legged in-pipe robot and its sensory system are studied.…”

“…In work [15] an analytic solution for inverse kinematics problem is given for a 9 link planar robot. In [16] a quadratic programming-based controller design for an in-pipe walking robot is proposed, able to take into account actuator torque limits and mechanical constraints, preventing loss of contact and slipping of the leg. Additionally, inverse kinematics algorithms, control designs and state-estimator designs were studied in [18] for a bipedal walking robot, using approaches that can be translated to in-pipe robots.…”

“…In paper [14] a six legged in-pipe robot designed for motion in spatially curved pipes is discussed. Articles [15][16][17] focus on planar in-pipe robots with four legs, considering designs with a solid and segmented main link.…”

“…In papers [14,15] step sequence generation algorithms are proposed for planar and spatial in-pipe walking robots. In work [15] an analytic solution for inverse kinematics problem is given for a 9 link planar robot.…”

“…In papers [14,15] step sequence generation algorithms are proposed for planar and spatial in-pipe walking robots. In work [15] an analytic solution for inverse kinematics problem is given for a 9 link planar robot. In [16] a quadratic programming-based controller design for an in-pipe walking robot is proposed, able to take into account actuator torque limits and mechanical constraints, preventing loss of contact and slipping of the leg.…”