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Conference Paper: Development of a novel in-pipe walking robot

TitleDevelopment of a novel in-pipe walking robot
Authors
KeywordsIn-pipe robot
Modular robot
Walking robot
Issue Date2015
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1002411
Citation
The 2015 IEEE International Conference on Information and Automation, Lijiang, China, 8-10 August 2015. In Conference Proceedings, 2015, p. 364-368 How to Cite?
AbstractPipes of different purposes are knitted around densely populated modern urban areas. If not properly maintained, they may become time bombs threatening the general public. There, there have been increasing interests in developing intelligent and agile robots that can work inside pipes. In this paper, a novel in-pipe walking robot module based on planetary gearing is proposed. A number of such modules are cascaded to form a modular walking robot. To illustrate the effectiveness, a prototype in-pipe walking robot, composed of three modules connected by coil springs, is analyzed. The three robotic modules are set to walk with asynchronous steps in order to keep stability during movement inside a pipe. Dynamic analysis simulating the change of driving force has been performed. A prototype showing the walking mechanism is also built.
Persistent Identifierhttp://hdl.handle.net/10722/218966
ISBN

 

DC FieldValueLanguage
dc.contributor.authorYu, X-
dc.contributor.authorChen, YH-
dc.contributor.authorChen, MZ-
dc.contributor.authorLam, J-
dc.date.accessioned2015-09-18T07:02:24Z-
dc.date.available2015-09-18T07:02:24Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE International Conference on Information and Automation, Lijiang, China, 8-10 August 2015. In Conference Proceedings, 2015, p. 364-368-
dc.identifier.isbn978-1-4673-9104-7-
dc.identifier.urihttp://hdl.handle.net/10722/218966-
dc.description.abstractPipes of different purposes are knitted around densely populated modern urban areas. If not properly maintained, they may become time bombs threatening the general public. There, there have been increasing interests in developing intelligent and agile robots that can work inside pipes. In this paper, a novel in-pipe walking robot module based on planetary gearing is proposed. A number of such modules are cascaded to form a modular walking robot. To illustrate the effectiveness, a prototype in-pipe walking robot, composed of three modules connected by coil springs, is analyzed. The three robotic modules are set to walk with asynchronous steps in order to keep stability during movement inside a pipe. Dynamic analysis simulating the change of driving force has been performed. A prototype showing the walking mechanism is also built.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1002411-
dc.relation.ispartofInternational Conference on Information and Automation (ICIA)-
dc.rightsInternational Conference on Information and Automation (ICIA). Copyright © IEEE.-
dc.rights©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectIn-pipe robot-
dc.subjectModular robot-
dc.subjectWalking robot-
dc.titleDevelopment of a novel in-pipe walking robot-
dc.typeConference_Paper-
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hk-
dc.identifier.emailChen, MZ: mzqchen@hku.hk-
dc.identifier.emailLam, J: jlam@hku.hk-
dc.identifier.authorityChen, YH=rp00099-
dc.identifier.authorityChen, MZ=rp01317-
dc.identifier.authorityLam, J=rp00133-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1109/ICInfA.2015.7279314-
dc.identifier.hkuros250982-
dc.identifier.spage364-
dc.identifier.epage368-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 151119-

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