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Pipelines which are tools for transporting oils, gases and other fluids such as chemicals, have been employed as major utilities in a number of countries for long time. Recently, many troubles occur in pipelines, and most of them are caused by aging, corrosion, cracks, and mechanical damages from the third parties. Even though lasting activities for maintenance are strongly demanded, they need enormous budgets that may not be easily handled by related industries. Currently, the applications of robots for the maintenance of the pipeline utilities are considered as one of the most attractive solutions available. In-pipe robots which have the long history of development in robotics can be classified into several elementary forms according to moving patterns, as shown in Fig. 1, although most of them have been designed depending upon specific applications.

In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines