• 대한임베디드공학회논문지
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• 제3권2호
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• pp.66-73
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• 2008

The pipes have been laid underground while the industry is developing. We have to take maintenance procedure when the pipes are cracked or ruptured. It is very difficult jop to check pipe's crack because the pipes are narrow and laid underground. Using in-pipe robot, we can check the conditions of inner section of pipes, therefore, we designed a crawler type robot to search cracked pipe. In this paper, we have made a special focus on the control of the robot using differential drive algorithm to move in curved section of pipes. The detailed design of the robot with experimental result show the effectiveness of the robot in pipe maintenance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.301-302
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.283-284
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• 2012