Omnidirectional Tractable Three Module Robot
Kartik Suryavanshi, Rama Vadapalli, Ruchitha Vucha, Abhishek Sarkar, and K Madhava Krishna

TL;DR
This paper presents a novel omnidirectional three-module robot designed for navigating complex pipe networks, featuring holonomic motion, a kinematic model, and strategies to avoid motion singularities during T-junctions.
Contribution
The paper introduces a new robot design with holonomic motion capabilities, a closed-form kinematic model, and a method to avoid motion singularities in pipe navigation.
Findings
Successful simulation of robot motion in MSC ADAMS
Experimental validation on physical robot prototype
Effective avoidance of motion singularities during T-junctions
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.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
