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

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

doi:10.1109/ICRA.2014.6907610

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 proceeding › Conference contribution › Academic › peer-review

43 Citations (Scopus)

44 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 language	Undefined
Title of host publication	IEEE International Conference on Robotics and Automation, ICRA 2014
Place of Publication	USA
Publisher	IEEE
Pages	5121-5126
Number of pages	6
ISBN (Print)	978-1-61284-454-1
DOIs	https://doi.org/10.1109/ICRA.2014.6907610
Publication status	Published - May 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Abbreviated title	ICRA
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Keywords

EWI-25316
IR-92739
METIS-309666

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICRA.2014.6907610

http://eprints.eemcs.utwente.nl/secure2/25316/01/06907610.pdf

Cite this

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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 ; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

year = "2014",

month = may,

doi = "10.1109/ICRA.2014.6907610",

language = "Undefined",

isbn = "978-1-61284-454-1",

publisher = "IEEE",

pages = "5121--5126",

booktitle = "IEEE International Conference on Robotics and Automation, ICRA 2014",

address = "United States",

}

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, 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 et al.
IEEE International Conference on Robotics and Automation, ICRA 2014. USA: IEEE, 2014. p. 5121-5126.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

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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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