MORE | Spring 2021

Design of a Controller for a Lizard Inspired Tube Inspection Robot

In this work, a smart force feedback controller is designed for a Lizard Inspired Tube Inspection (LTI) robot that has force-sensitive sensors embedded in its fingers. The primary function of this controller is to translate the robot application program and convert the commands from its source code to its respective motion. With the help of this intuitive controller, the operator would be able to set a trajectory for the robot to navigate along the length of the tube and detect any structural defects in the tube.