Dynamic analysis and human analogous control of a pipe crawling robot

In this paper the design and development of a crawling robot for inspection of live water pipes are addressed. The mechanical design of the robot is described in detail. The governing dynamics equations of the robot moving against water flow as well as gravity in a straight pipe are also derived. Sp...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Heidari, A.H., Mehrandezh, M., Paranjape, R., Najjaran, H.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Artificial neural networks Control systems Equations Fluid flow control Gravity Humans Hydrodynamics Inspection Numerical models Robot motion
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