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2006
IEEE

A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots

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A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots
— A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well: snake-like robots and chain multi-configurable modular robots. The different pipes and elbows it can move on are also shown.
Alberto Brunete, Ernesto Gambao, Jose Emilio Torre
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Alberto Brunete, Ernesto Gambao, Jose Emilio Torres, Miguel Hernando
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