{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:06Z","timestamp":1754157366917,"version":"3.41.2"},"reference-count":17,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2013,4,26]],"date-time":"2013-04-26T00:00:00Z","timestamp":1366934400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2013,4,26]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to propose a high\u2010mobility in\u2010pipe robot platform and its navigation strategy for navigating in T\u2010branch pipes efficiently.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>For high mobility, this robot is developed based on inchworm locomotion. An extensor mechanism with flexible links and clamper mechanisms enable the robot to conduct both steering and inchworm locomotion. The locomotion of the robot is modeled based on a pseudo\u2010rigid\u2010body model. From the developed model, this paper introduces a navigation strategy based on defining relay points and generating a path from a main pipe to a T\u2010branch pipe.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>With this navigation strategy, the robot can avoid collisions and enter T\u2010branch pipes effectively. The path generation algorithm is verified by experiment. In addition, both the navigation strategy and mobility of the robot are demonstrated by experiments conducted in a commercial pipe configuration.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper describes the mechanism of an inchworm\u2010type in\u2010pipe robot that is able to steer and adapt to pipe diameter changes. This paper also describes navigation strategy that enables a robot to avoid collisions and enter T\u2010branch pipes effectively. This research will help the construction of a fully autonomous in\u2010pipe robot that can navigate through various types of pipes.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911311309960","type":"journal-article","created":{"date-parts":[[2013,4,22]],"date-time":"2013-04-22T11:22:51Z","timestamp":1366629771000},"page":"261-274","source":"Crossref","is-referenced-by-count":10,"title":["Design and control method for a high\u2010mobility in\u2010pipe robot with flexible links"],"prefix":"10.1108","volume":"40","author":[{"given":"Woongsun","family":"Jeon","sequence":"first","affiliation":[]},{"given":"Inho","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Jungwan","family":"Park","sequence":"additional","affiliation":[]},{"given":"Hyunseok","family":"Yang","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022020320421572100_b12","unstructured":"Horodinca, M., Dorftei, I., Mignon, E. and Preumont, A. (2002), \u201cA simple architecture for in\u2010pipe inspection robots\u201d, Proc. Int. Colloq. Mobile, Autonomous Systems, pp. 61\u201064."},{"key":"key2022020320421572100_b10","unstructured":"Howell, L.L. (2001), Compliant Mechanisms, Wiley, New York, NY, pp. 135\u2010196."},{"key":"key2022020320421572100_b16","doi-asserted-by":"crossref","unstructured":"Jeon, W., Park, J., Kim, I., Kang, Y.\u2010K. and Yang, H. (2011), \u201cDevelopment of high mobility in\u2010pipe inspection robot\u201d, Proceedings of the IEEE\/SICE International Symposium on System Integration, Kyoto, Japan, 20\u201022 December, pp. 479\u2010484.","DOI":"10.1109\/SII.2011.6147496"},{"key":"key2022020320421572100_b3","unstructured":"Kim, D.\u2010W., Park, C.\u2010H., Kim, H.\u2010K. and Kim, S.\u2010B. (2009), \u201cForce adjustment of an active pipe inspection robot\u201d, Proceedings of the ICROS\u2010SICE International Joint Conference 2009."},{"key":"key2022020320421572100_b7","doi-asserted-by":"crossref","unstructured":"Kim, J.\u2010H., Sharma, G. and Iyengar, S.S. (2010), \u201cFAMPER: a fully autonomous mobile robot for pipeline exploration\u201d, Proceedings of the IEEE\u2010ICIT 2010 International Conference on Industrial Technology, Vina del Mar, Chile, 14\u201017 March.","DOI":"10.1109\/ICIT.2010.5472748"},{"key":"key2022020320421572100_b1","doi-asserted-by":"crossref","unstructured":"Kuwada, A., Tsujino, K., Suzumori, K. and Kanda, T. (2006), \u201cIntelligent actuators realizing snake\u2010like small robot for pipe inspection\u201d, MHS 2006 Micro\u2010Nano COE, MP1\u20102\u20101, November, p. 20.","DOI":"10.1109\/MHS.2006.320333"},{"key":"key2022020320421572100_b13","unstructured":"Li, P., Ma, S., Li, B., Wang, Y. and Ye, C. (2007), \u201cAn in\u2010pipe inspection robot based on adaptive mobile mechanism: mechanical design and basic experiments\u201d, Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 29 October\u20102 November."},{"key":"key2022020320421572100_b6","doi-asserted-by":"crossref","unstructured":"Lim, J., Park, H., An, J., Hong, Y.\u2010S., Kim, B. and Yi, B.\u2010J. (2008), \u201cOne pneumatic line based inchworm\u2010like micro robot for half\u2010inch pipe inspection\u201d, Mechatronics, Vol. 18 No. 7, pp. 315\u2010322.","DOI":"10.1016\/j.mechatronics.2008.05.007"},{"key":"key2022020320421572100_b8","doi-asserted-by":"crossref","unstructured":"Mirats Tur, J.M. and Garthwaite, W. 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(2009), \u201cDevelopment of an actively adaptable in\u2010pipe robot\u201d, Proceedings of the 2009 IEEE International Conference on Mechatronics, Malaga, Spain, April.","DOI":"10.1109\/ICMECH.2009.4957174"},{"key":"key2022020320421572100_b14","doi-asserted-by":"crossref","unstructured":"Roh, S.\u2010G. and Choi, H.R. (2005), \u201cDifferential\u2010drive in\u2010pipe robot for moving inside urban gas pipelines\u201d, IEEE Transactions on Robotics, Vol. 21, pp. 1\u201017.","DOI":"10.1109\/TRO.2004.838000"},{"key":"key2022020320421572100_b4","doi-asserted-by":"crossref","unstructured":"Streich, H. and Adria, O. (2004), \u201cSoftware approach for the autonomous inspection robot MAKRO, robotics and automation, 2004\u201d, 2004 IEEE International Conference on Proceedings of the ICRA'04, April\/May.","DOI":"10.1109\/ROBOT.2004.1308781"},{"key":"key2022020320421572100_b5","unstructured":"Yu, H., Ma, P. and Cao, C. 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