Continuum Locomotive Alternative for Robotic Adaptive-exploration (CLARA)

Katz, Brian; Wheeler, Katelyn

Student Work

Continuum Locomotive Alternative for Robotic Adaptive-exploration (CLARA)

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Current forms of remote pipe inspection, such as borescopes, are limited in their maneuverability, reach, and adaptability. We propose a salamander inspired soft robot as a novel battery powered pipe inspection tool that can maneuver in many/varying pipe sizes, vertical pipes, tees, and bends using a variable diameter suspension mechanism and without the need for a tether. The salamander robot has an origami-inspired continuum body structure with driven wheels on a suspension mechanism, running in closed-loop control to modify the body shape and change length to negotiate pipe networks and adjust force on the tube. The origami body utilizes a Yoshimura crease pattern to achieve continuously deformable cable driven bellows that enable steering by body deformation without traditional rigid mechanisms. To enable closed-loop force, velocity, and position control on each degree of freedom, we introduce a smart motor driver control board that can be mounted on the back of small electric motors and used in a broad range of applications beyond the scope of this project. The motor drivers are commanded via I2C by a custom mainboard that receives remote commands via WiFi and UART from a gamepad or similar user input. The system achieves 4.5” of linear compression, 1.6” of diameter range and 85.8° maximum bending angle. This project provides a foundation for future research into multi-robot inclusion and sensor integration.

This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

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