continuum robot

The development of a continuum robot with compliant mechanisms that imitates the locomotion of caterpillars and inch-worms is proposed for climbing pipes and navigating confined spaces, with kinematic analysis and simulations, and primary experiments demonstrating potential for narrow gap exploration.

This paper reviews the characteristics, applications, and challenges of developing pipe robots, categorizing them into modular design, bio-inspired, and soft structure, and concludes that more research is needed to develop out-pipe robotic solutions with greater adaptability to confined and staggered environments.