Water- and Dust-proof Design for a Snake-like Pipeline Inspection Robot with Rolling Movement

Abstract

This paper presents a snake-like pipeline inspection robot with omni and hemispherical wheels (Cassiopeia-II) and its water- and dust-proof design. The robot can quickly adapt to winding pipes without moving forward and backward using the hemispherical wheels. In this paper, we investigate the possibility of high maneuverability of Cassiopeia-II by experimental verification.