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.
|Publisher||IEEE Robotics and Automation Society|
|Conference||2014 IEEE International Conference on Robotics and Automation, ICRA 2014|
|Period||31/05/14 → 7/06/14|