Carnegie Mellon University
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In-tank inspection mobile robot system (SPOKES)
This project is no longer active.
Head: Hagen Schempf
Contact: Hagen Schempf
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Field Robotics Center (FRC)
Project 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.