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In Japan, pipe inspection robots are required in many kinds of pipes for water supply, nuclear reactor and so on. A flexible and slim robot is desirable for traveling inside complex pipe. To improve mobility in pipes and facilitate recovering, a slim straight-shaped pipe inspection robot when it is not pressurized is required. In this study, a slim pipe inspection robot using extension type flexible pneumatic actuator with axial elastic/rigid fiber restraint was proposed and tested. The analytical model of the robot for coiling motion was also proposed and tested. As a result, it could be confirmed that the tested robot could travel in the pipe with about ten times diameter of the robot by coiling and extension motions like a snake.
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ISHIBASHI et al. (2025) studied this question.
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