Research

Hanyang University HumanRobotics Lab

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Pipeline Inspection Robot

Purpose of research

Design and motion planning algorithm of a caterpillar-based pipeline robot that can be used for inspection of 80–100-mm pipelines in an indoor pipeline environment.

Research content
  • Development of a Pipeline inspection robot
  • Development of motion planning algorithms of a caterpillar-based pipeline robot
  • Modeling closed-form kinematic model of pipeline inspection robot

Cocobot

Parallel Mechanism

Haptic