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RI | Research | Projects | SPOKES
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Text only version of this site
![[Project image]](/images/projects/spokes.jpg) |
In-tank inspection mobile robot system (SPOKES) This project is no longer active.
Head: Hagen Schempf
Mailing address:
Associated center: FRC For more information, see this project's homepage.
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| Project Description |
The robot system consists of a set of legs and attached locomotors, which allow for bi-directional travel due to their innovative actuation mechanism. A UT-sensor and video camera are carried by the robot and it is tethered through a deployment pod to an off-board controller suitcase.
The robot system accesses these tanks by collapsing its legs and locomotors to fit through a 4" diameter opening. Locomotion is in cylindrical coordinates inside the tank to allow travel in circular and longitudinal directions.