Pipeline inspection tests using a biomimetic robot

Elizabeth Islas‐garcía, Marco Ceccarelli, Ricardo Tapia‐herrera, Christopher R. Torres‐sanmiguel

Research output: Contribution to journalArticlepeer-review


This paper presents a biomimetic prototype of a mobile robot that can be used to inspect the subdrainage conditions of pipelines located along different highways in Mexico. Computer-aided design tools have been used to size each of the prototype components as inspired by anatom-ical spider structure. Springs are integrated to generate proper contact pressure against the pipe walls. The robot locomotion system is implemented with adaptable behaviour for the irregularities of pipelines along its journey. The robot prototype is manufactured in 3D printing with the ad-vantage of having its spare parts easily replaceable. Reported results show internal pipe status through a mini video camera on the top of the robot.

Original languageEnglish
Article number17
Pages (from-to)1-16
Number of pages16
Issue number1
StatePublished - Mar 2021


  • biomimetics
  • Design
  • Pipelines inspection
  • Service robots
  • Spiders


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