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- W4286778711 abstract "This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{deg} apart circumferentially which can rotate about their own axis allowing holonomic motion of the robot. The holonomic motion enables the robot to overcome motion singularity when negotiating T-junctions and further allows the robot to arrive in a preferred orientation while taking turns inside a pipe. We have developed a closed-form kinematic model for the robot in the paper and propose the Motion Singularity Region that the robot needs to avoid while negotiating T-junction. The design and motion capabilities of the robot are demonstrated both by conducting simulations in MSC ADAMS on a simplified lumped-model of the robot and with experiments on its physical embodiment." @default.
- W4286778711 created "2022-07-23" @default.
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- W4286778711 date "2019-09-23" @default.
- W4286778711 modified "2023-09-24" @default.
- W4286778711 title "Omnidirectional Tractable Three Module Robot" @default.
- W4286778711 doi "https://doi.org/10.48550/arxiv.1909.10277" @default.
- W4286778711 hasPublicationYear "2019" @default.
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