Title :
An ultrasonically controlled robot submarine for pipe inspection
Author :
Nickols, F. ; Ho, D. ; Harrold, S.O. ; Bradbeer, R.T. ; Yeung, L.
Author_Institution :
Dept. of Electron. Eng., City Univ. of Hong Kong, Hong Kong
Abstract :
A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed
Keywords :
actuators; inspection; legged locomotion; marine systems; mobile robots; robot kinematics; underwater sound; actuation system; four legged robot; leg kinematics; pipe inspection; radio control; robot submarine; ultrasonic control; Cameras; Communication system control; Control systems; Engines; Inspection; Leg; Radio control; Robot control; Stability; Underwater vehicles;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625310
