Development of mobile minirobots for in pipe inspection tasks

Abstract

The possibilities to use a miniaturized robotic system for inspection, exploration and maintenance of the pipes are highlighted. In this paper, the authors' contribution in this field is discussed. Two in-pipe minirobots developed by the authors are described. The efforts are focused on the in-pipe mobility and corresponding actuation systems. Several functional characteristics (e.g. the maximum/minimum inner pipe diameter) are given.