Water pipe robot utilizing soft inflatable actuators

Wade Adams, Saivimal Sridar, Carly M. Thalman, Bryce Copenhaver, Hassan Elsaad, Panagiotis Polygerinos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents the design and testing of a soft robot for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes without the need of adjusting mechanical components. The robot utilizes inflatable soft actuators with adjustable radius which, when pressurized, can mobilize the robot inside the pipe, or anchor it in place. Utilizing a control algorithm for locomotion allows the robot to maneuver through a pipe mimicking the motion of an inchworm. This paper offers an evaluation of the structure and behavior of the inflatable actuators through computational modeling of the material and design, as well as the experimental data of the forces and displacements generated by the actuators. The theoretical results are contrasted to experimental data utilizing a physical prototype of the soft robot. The unique design is anticipated to enable compliant robots to conform to the space offered to them and overcome any occlusions from accumulated solids found in pipes.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages321-326
Number of pages6
ISBN (Electronic)9781538645161
DOIs
StatePublished - Jul 5 2018
Event1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
Duration: Apr 24 2018Apr 28 2018

Other

Other1st IEEE International Conference on Soft Robotics, RoboSoft 2018
CountryItaly
CityLivorno
Period4/24/184/28/18

Fingerprint

Actuator
Actuators
Robot
Pipe
Robots
Water
Inspection
Experimental Data
Computational Modeling
Locomotion
Anchors
Occlusion
Control Algorithm
Interior
Pipelines
Radius
Prototype
Testing
Motion
Evaluation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Modeling and Simulation
  • Mechanical Engineering

Cite this

Adams, W., Sridar, S., Thalman, C. M., Copenhaver, B., Elsaad, H., & Polygerinos, P. (2018). Water pipe robot utilizing soft inflatable actuators. In 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 (pp. 321-326). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOSOFT.2018.8404939

Water pipe robot utilizing soft inflatable actuators. / Adams, Wade; Sridar, Saivimal; Thalman, Carly M.; Copenhaver, Bryce; Elsaad, Hassan; Polygerinos, Panagiotis.

2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 321-326.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Adams, W, Sridar, S, Thalman, CM, Copenhaver, B, Elsaad, H & Polygerinos, P 2018, Water pipe robot utilizing soft inflatable actuators. in 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. Institute of Electrical and Electronics Engineers Inc., pp. 321-326, 1st IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, 4/24/18. https://doi.org/10.1109/ROBOSOFT.2018.8404939
Adams W, Sridar S, Thalman CM, Copenhaver B, Elsaad H, Polygerinos P. Water pipe robot utilizing soft inflatable actuators. In 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 321-326 https://doi.org/10.1109/ROBOSOFT.2018.8404939
Adams, Wade ; Sridar, Saivimal ; Thalman, Carly M. ; Copenhaver, Bryce ; Elsaad, Hassan ; Polygerinos, Panagiotis. / Water pipe robot utilizing soft inflatable actuators. 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 321-326
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