抄録
There is a need for inspections of the inside of aging pipe arrangements without dismantlement
in plant facilities. Snake robots are expected to be deployed as a solution for it. In this study, we developed
a teleoperation interface system that visualized snake robot shapes and contact forces applied from pipes,
stabilized video feeds from a head camera, built a pipe map based on a snake robot trajectory, and took
pictures of the inside of pipes for image mapping onto the pipe map.
