Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

Edwin Christian Dertien, M. Mozaffari Foumashi, Kees Pulles, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    12 Citations (Scopus)
    2 Downloads (Pure)

    Abstract

    This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.
    Original languageUndefined
    Title of host publicationIEEE International Conference on Robotics and Automation, ICRA 2014
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5121-5126
    Number of pages6
    ISBN (Print)978-1-61284-454-1
    DOIs
    Publication statusPublished - May 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 31 May 20147 Jun 2014

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Abbreviated titleICRA
    CountryChina
    CityHong Kong
    Period31/05/147/06/14

    Keywords

    • EWI-25316
    • IR-92739
    • METIS-309666

    Cite this

    Dertien, E. C., Mozaffari Foumashi, M., Pulles, K., & Stramigioli, S. (2014). Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. In IEEE International Conference on Robotics and Automation, ICRA 2014 (pp. 5121-5126). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/ICRA.2014.6907610
    Dertien, Edwin Christian ; Mozaffari Foumashi, M. ; Pulles, Kees ; Stramigioli, Stefano. / Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. IEEE International Conference on Robotics and Automation, ICRA 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. pp. 5121-5126
    @inproceedings{38b478caea664f4c8e5c95dc85488e8b,
    title = "Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization",
    abstract = "This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.",
    keywords = "EWI-25316, IR-92739, METIS-309666",
    author = "Dertien, {Edwin Christian} and {Mozaffari Foumashi}, M. and Kees Pulles and Stefano Stramigioli",
    note = "10.1109/ICRA.2014.6907610",
    year = "2014",
    month = "5",
    doi = "10.1109/ICRA.2014.6907610",
    language = "Undefined",
    isbn = "978-1-61284-454-1",
    publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
    pages = "5121--5126",
    booktitle = "IEEE International Conference on Robotics and Automation, ICRA 2014",

    }

    Dertien, EC, Mozaffari Foumashi, M, Pulles, K & Stramigioli, S 2014, Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. in IEEE International Conference on Robotics and Automation, ICRA 2014. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 5121-5126, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907610

    Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. / Dertien, Edwin Christian; Mozaffari Foumashi, M.; Pulles, Kees; Stramigioli, Stefano.

    IEEE International Conference on Robotics and Automation, ICRA 2014. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2014. p. 5121-5126.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    T1 - Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

    AU - Dertien, Edwin Christian

    AU - Mozaffari Foumashi, M.

    AU - Pulles, Kees

    AU - Stramigioli, Stefano

    N1 - 10.1109/ICRA.2014.6907610

    PY - 2014/5

    Y1 - 2014/5

    N2 - This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.

    AB - This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper will show the development and evaluation of a prototype model. Rapid prototyping techniques have been used in this proof-of-principle.

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    DO - 10.1109/ICRA.2014.6907610

    M3 - Conference contribution

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    BT - IEEE International Conference on Robotics and Automation, ICRA 2014

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    Dertien EC, Mozaffari Foumashi M, Pulles K, Stramigioli S. Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization. In IEEE International Conference on Robotics and Automation, ICRA 2014. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2014. p. 5121-5126 https://doi.org/10.1109/ICRA.2014.6907610