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ICRA 2014: In-pipe Robot with Underactuated Parallelogram Crawler Modules

This is an in-pipe robot with independent underactuated parallelogram crawler modules, which can automatically overcome inner obstacles in the pipes. The parallelogram crawler modules are adopted to maintain the anterior-posterior symmetry of forward and backward movements, and a simple differential mechanism based on a pair of spur gears is installed to provide underactuated mechanisms. A central base unit connects each crawler module through foldable pantograph mechanisms. [Effect of Underactuated Parallelogram Shape-shifting for Environmental Adaptation Movement of a Three Modular In-pipe Robot] Published in: Frontiers in Robotics and AI | Field Robotics, Vol. 10, pp. 1-14, 2023, https://doi.org/10.3389/frobt.2023.12... [An in-pipe robot with underactuated parallelogram crawler modules] Published in: 2014 IEEE International Conference on Robotics and Automation (ICRA) http://ieeexplore.ieee.org/document/6... Date of Conference: 31 May-7 June 2014 Date Added to IEEE Xplore: 29 September 2014 Print ISSN: 1050-4729 INSPEC Accession Number: 14616529 DOI: 10.1109/ICRA.2014.6907078 Publisher: IEEE Conference Location: Hong Kong, China [Design of an underactuated parallelogram crawler module for an in-pipe robot] Published in: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) http://ieeexplore.ieee.org/document/6... Date of Conference: 12-14 Dec. 2013 Date Added to IEEE Xplore: 17 March 2014 INSPEC Accession Number: 14161750 DOI: 10.1109/ROBIO.2013.6739648 Publisher: IEEE Conference Location: Shenzhen, China Lab website http://www.malab.se.ritsumei.ac.jp/ #Ritsumeikan #Robot