Pipeline inspection tests using a biomimetic robot

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.