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Multi-Gait In-Pipe Locomotion via Programmable Friction Reorientation.

Jaehyun Lee1, Jongwoo Kim1

  • 1Biomedical and Intelligent Robotics Laboratory, Department of Mechanical Engineering, Kyung Hee University, 1732 Deogyeong-daero, Yongin 17104, Republic of Korea.

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Summary
This summary is machine-generated.

This study introduces a bioinspired soft robot for pipe navigation. It uses anisotropic friction pads and tendon-driven bending-twisting to achieve multi-directional movement with only two motors.

Keywords:
biologically-inspired robotscontinuum robotsin-pipe inspectionminimal actuationmultimodal locomotionprogrammable frictionsoft robotics

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Area of Science:

  • Robotics
  • Bio-inspired Engineering
  • Materials Science

Background:

  • Conventional in-pipe robots struggle with confined, curved spaces due to rigid designs.
  • Existing soft crawlers often require complex multi-actuator systems for directional control.
  • Biological systems offer efficient locomotion strategies using directional friction and anchor-slip mechanisms.

Purpose of the Study:

  • To develop a compact, soft in-pipe robot capable of multi-directional locomotion.
  • To leverage bioinspired principles of directional friction and continuum deformation for robot design.
  • To enable efficient navigation in complex pipe networks using minimal actuation.

Main Methods:

  • Designed a tendon-driven soft robot integrating continuum bending-twisting with modular anisotropic friction pads (AFPs).
  • Optimized AFP geometry (inclination, curvature, ridge) using friction tests, modeling, and finite element analysis.
  • Developed a deformation-based locomotion framework coupling tendon actuation with AFP orientation for controlled movement.

Main Results:

  • Achieved three distinct locomotion modes (crawling, translation, rotation) using only two motors.
  • Demonstrated repeatable anchor-slip locomotion with average speeds of 28.6 mm/s (longitudinal), 15.7 mm/s (transverse), and 11.5°/s (rotation).
  • Validated stable contact and reliable gait transitions in straight, curved, and T-junction pipe sections.

Conclusions:

  • The proposed friction-programmed continuum robot offers a compact and bioinspired solution for in-pipe tasks.
  • The integrated design effectively mimics biological locomotion principles for enhanced maneuverability.
  • This platform shows significant potential for advanced in-pipe inspection and diagnostics.