Multimodal Mobile Robot for Inspection and Surveillance in Constrained Environments

This inspection robot is designed to navigate both structured and unstructured environments with ease. Equipped with an articulated active joint, it offers precise steering control. Developed specifically for dual-mode operation, the robot seamlessly transitions between in-pipe and ground motion. To enhance stability on the ground, the robot features a configurable wheel distance mechanism that expands its support polygon. For in-pipe navigation, it employs a wall-press mechanism optimized to adapt to variations in pipe diameter. Additionally, its 2-DOF articulated joint enables both pitch and roll adjustments, allowing it to maneuver around obstacles within the pipe efficiently.

A mathematical model of the robot's motion is currently under development. This model accounts for the dynamics of the active joint, which plays a crucial role in steering the robot.