Abstract
Long articulated body mobile robots such as snake and/or worm-type robots possess small cross-sectional area, and have inherent ability to move along narrow paths and even thread through inside rubbles. This research proposes an externally drive motion concept for a very long worm-type robot to be used in maintenance and inspection tasks of infrastructures. This robot will be equipped with compound sensors comprising of gas sensor, cameras and radars. This paper analyzes the advantages of the proposed system and the reports the development of the first mechanical prototype.
