A bio-inspired continuum robot for out-pipe climbing and confined space navigating

Prototype of the proposed continuum robot

Abstract

Pipe robots are being developed to climb the areas that are hard to reach for human beings. Generally, there are few out-pipe robots that can both climb among pipes and pass through confined space. To this end, we propose a solution based on a continuum robot with several compliant mechanisms. This robot can imitate the locomotion principles of both caterpillars and inch-worms. The kinematics of the two-segment continuum robot is analyzed. Simulations including task space motion and confined space navigating are performed using a flexible multi-body dynamics method are performed for further discussion. Lastly, we showcase primary experiments of our proposed continuum robot for narrow gap exploration.

Publication
2021 IEEE International Conference on Robotics and Biomimetics
杜亮
杜亮
讲师

讲师,机器人技术,自动化装备

袁建军
袁建军
教授

机器人技术,自动化装备

MA Shugen
MA Shugen
日本立命馆大学教授

日本立命馆大学理工学部机器人学科教授

鲍晟
鲍晟
讲师

讲师,机电技术

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