The Development of an In-pipe Microrobot Applying the Motion of an Earthworm.

Takahashi, Masaki; Hayashi, Iwao; Iwatsuki, Nobuyuki; Suzumori, Koichi; Ohki, N.

doi:10.2493/jjspe.61.90

Cited by 26 publications

(12 citation statements)

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“…The simplest inchworm device consists of two clampers at its ends and one extensor in the middle. Examples of how the inchworm paradigm has been applied to in-pipe robot movement were provided by Anthierens, Ciftci, and Betemps (1999), Bertetto and Ruggiu (2001), Choi, Jung, and Kim (2004), Menciassi, Park, Lee, Gorini, Dario, et al (2002), and Takahashi, Hayashi, Iwatsuki, Suzumori, and Ohki (1994).…”

Section: Motion Mechanismsmentioning

confidence: 99%

Robotic devices for water main in‐pipe inspection: A survey

Tur

Garthwaite

2010

Journal of Field Robotics

106

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Many water companies have a limited knowledge of the structural condition of their assets. Underground assets have been installed for a long time, so they are old and are failing, leading to leaks, breaks, and consequential damage to third parties. A common practice is the removal of pipe sections for condition assessment, causing service interruption and resulting in the assessment of a small percentage of the network as well as high replacement costs. Systematic condition assessment of pipes could help to prevent network problems as well as in proposing an efficient investment plan. This can be performed by using robotic inspection devices. Toward this end, this paper reviews existing robotic tools and analyzes open problems to be addressed for a successful robotic inspection device. C

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Section: Motion Mechanismsmentioning

confidence: 99%

Robotic devices for water main in‐pipe inspection: A survey

Tur

Garthwaite

2010

Journal of Field Robotics

106

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“…They are designed to imitate the amazing characteristics of these structures. Continuum robot applications has become increasingly popular because robots with these capabilities can search inside confined spaces, much easier than traditional rigid link robots, explore unstructured environments and pipes [22,23,24,25], and inside holes like rescue robots [26,27], and twist around an object regardless of the shape or size of the object [28]. Continuous robots can be categorized by different actuation strategies that have been used like below: 1-Robots shaped by continuously bending actuators.…”

Section: Introductionmentioning

confidence: 99%

A compound robotic hand with two under-actuated fingers and a continuous finger

Sabetian

Feizollahi

Cheraghpour

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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This Paper proposes a compound robotic hand that benefits the features of both underactuated and continuous systems. This hand consists of two underactuated tendon-driven fingers and a single section continuous finger. The continuous finger helps to increase the Manipulation capabilities of grasping. Each underactuated finger is composed of three phalanges that are actuated with one tendon with appropriate embedded tendon guide, and the continuous finger is driven by three cables. By pulling the wire using mechanically driven actuators, the flexion of the three-phalange fingers and the desired shape of the continuous finger are obtained. After the conceptual design, fabrication, and performance analysis of the hand, Kinematic equations of the continuous finger are discussed, and finally, the form-closure property of grasp is studied.

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“…In dealing with the aforementioned problems, robotic researchers mainly concentrate on mimicking natures such as humans or animals recently. Typically, there are many reports on annelidlike robots, such as the inchworm or earthworm [1][2][3][4][5]. The annelid is one of the most popular mechanisms in robotic fields and it is employed in various areas such as in-pipe inspection robots, wall climbing robots, etc, because the locomotion of the annelid is the most simple and effective to move in arbitrary environments among the lower animals [6].…”

Section: Introductionmentioning

confidence: 99%

Artificial annelid robot driven by soft actuators

et al. 2007

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The annelid provides a biological solution of effective locomotion adaptable to a large variety of unstructured environmental conditions. The undulated locomotion of the segmented body in the annelid is characterized by the combination of individual motion of the muscles distributed along the body, which has been of keen interest in biomimetic investigation. In this paper, we present an annelid-like robot driven by soft actuators based on dielectric elastomer. To mimic the unique motion of the annelid, a novel actuation method employing dielectric elastomer is developed. By using the actuator, a three-degree-of-freedom actuator module is presented, which can provide up-down translational motion, and two rotational degree-of-freedom motion. The proposed actuation method provides advantageous features of reduction in size, fast response and ruggedness in operation. By serially connecting the actuator modules, a micro-robot mimicking the motion of the annelid is developed and its effectiveness is experimentally demonstrated.

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The Development of an In-pipe Microrobot Applying the Motion of an Earthworm.

Cited by 26 publications

References 0 publications

Robotic devices for water main in‐pipe inspection: A survey

Robotic devices for water main in‐pipe inspection: A survey

A compound robotic hand with two under-actuated fingers and a continuous finger

Artificial annelid robot driven by soft actuators

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