Reveals a novel robot design for pipe inspections, suggesting improvements in maintenance efficiency.
In this study, the authors propose a lightweight, earthworm-inspired robot equipped with circumferential brushes for inspecting large-diameter pipes in elevated or confined spaces. The robot achieves propulsion by gripping the pipe wall using radially arranged brushes actuated by pneumatic artificial muscles. This paper presents a method for switching propulsion direction via directional brush deformation, along with a theoretical model.
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Hiromoto et al. (2026) studied this question.
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