Graphics enhanced version of this site

In-tank inspection mobile robot system (SPOKES)
This project is no longer active.

Head: Hagen Schempf
Contact: Hagen Schempf (hagen@rec.ri.cmu.edu (Currently On Leave))

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: FRC

For more information, see this project's homepage.

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.