A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot.
Tomonari YamamotoMasashi KonyoKenjiro TadakumaSatoshi TadokoroPublished in: ICRA (2017)
Keyphrases
- force control
- robot arm
- water supply
- robot manipulators
- degrees of freedom
- end effector
- cross section
- mobile robot
- wide range
- motion planning
- database systems
- sagittal plane
- action selection mechanism
- heat exchanger
- position control
- force feedback
- robot navigation
- dynamic model
- closed loop
- control system
- outer sheath
- computer vision
- human robot interaction
- autonomous robots
- humanoid robot
- control strategy
- path planning