抄録
A new configuration of inner pipe inspection robot is proposed, by which the robot can go through the elbow pipe, and can select a direction at the T-shape intersection. The concept is that omni-directional wheels equipped side by side produces a propulsion of forward/backward, heading moment to left/right, and axial turning. A trial manufactured robot with 4-omni-wheels demonstrates a good performance in a 200mm diameter pipe.
