A novel soft robotic system for the investigation and clearance of blockages and obstructions in hard-to reach sewer lines.
Soft Robotics | Microcontrollers and Automation | 3D Printing | Design Engineering
PipeBot was a final project for the MDes Program's Technological Design Foundations (TDF) class. Our group set out to design and build a robot prototype with the goal of presenting a novel solution to clear blocked pipes and sewers at the residential-municipal interface.
In our final proposal, the project is described as follows:
"The objective of this project is to develop a soft robotics system capable of navigating sewer networks to detect and clear blockages in a safe, efficient, and environmentally friendly manner.
Reducing reliance on harsher cleaning methods; the robot uses a flexible, adaptive structure to travel through narrow and curved pipe sections, locate obstructions, and perform precise cleaning operations. This approach promotes preventative maintenance while protecting urban infrastructure, safeguarding worker health, and minimizing ecological impacts from wastewater pollution"
Above: Early brainstorming sketches of what would become PipeBot
Early prototypes involved the exploration ofdifferent locomotion mechanisms, with the final choice being a sequence of linear actuators fitted with expanding mechanisms with which to anchor themselves with the walls of a pipe. When expanded and retracted at the correct intervals, the actuators and linkage created within the pipe a type of peristaltic motion-an expansion and contraction along a canal that pushes contents forward. Our robot would function like an inch worm, push-pulling itself along the inner wall of a pipe.
Left: An early sketch of the expansion anchor mechanism
and locomotion sequence
Above: a proof-of-concept prototype demonstrating the efficacy of the linkage mechanism
Below: a midpoint prototype after replacing most parts with TPU
As a team, we quickly moved away from plastic linkages to TPU-based spines, improving reliability by reducing moving parts, and drastically increasing the efficacy of the anchor mechanism by increasing the contact patch with the pliable material.
TPU found its way into most components of our robot, as well as our rear umbillical tether, and the pliable linkages between actuator
We also off-boarded many major components - including the microcontroller and motor controllers - into a control box, instead connecting to the robot with an umbillical tether that could also be used as a retrieval mechanism.
Right: rear view of the umbillical port and cable bundle
Below: Final showcase-ready prototype
Our final showcase-ready prototype focused on achieving a reliable, replicable motion within a transparent test track, with successful tests around corners, at steep inclines, and removing simple obstructions.
We successfully presented and demonstrated the PipeBot at the Jacobs Winter Showcase on December 9th 2025 to professional critics and peers in the Berkeley community.
Filming video fo a full test run in our showcase test track
Picture of table setup from Jacobs Showcase
Video of operational prototype:
Link to project files (CAD, Arduino Code, etc):