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This paper deals with a control method for a newly designed module-type robot with lazy tongs mechanism, with the experimental results of passing over a reducer, and with the diagnostic results of the Mark V robot with the lazy tongs mechanism. This module-type robot has been newly designed for inspection of pipelines, such as ones for air conditioners and water pipes, in buildings. This robot can recognize reducers by means of a newly designed sensor and can pass over reducers automatically without requirements for changing any part of the robot. Passing the reducers and changes in thickness of pipelines caused by corrosion are shown in experimental results.

Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism