抄録
This report describes an in-pipe locomotion robots for small radius (50 [mm]) pipe-lines. We have made two robots connected to each other which can run inside of the pipe-lines using pendulums with magnet. The first robot can inspect inside of the pipe by a CCD camera, which is operated by the controller, and the second robot follows the first one, automatically. The authors proposed to use connected robots to increase payload in small environment. Experiments to follow the second robot to the former one were done successfully on plane or inside of the straight pipe. However, the robots need more than 100 [mm] to run 90° curves.
