Abstract
Sewer pipe exists in our familiar environment, however, which is one of dangerous and severe spaces for direct human operations. The tasks in sewer pipe such as inspection and maintenance should be taken over by autonomous or remotely operated vehicles. We have been working on a sewer pipe inspection robot "KANTARO" which has a special structure to go through pipes with curves and junctions. In this research, we develop a simplified map generation system to identify the robot position by using passive arms, which consists of encoder, angle sensor and link with spring. The map generation system is evaluated through simulations and experiments.
