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

    17 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