A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints
Atsushi Kakogawa,Shugen Ma,Atsushi Kakogawa,Shugen Ma
AIRo-5.1 an in-pipe inspection robot comprised of two passive compliant joints and a single active compliant joint that is driven by a series elastic actuator (SEA) is presented in the course of this study. As an aid in pipeline maintenance, AIRo-5.1 controls joint angles and the torque of middle joints, to enable them to adapt to bend, branch, vertical pipes, and slippery surfaces. To sense the j...
