Simulation of the in-pipe machine locomotion based on the innertial stepping principle

Michal Kelemen, Tatiana Maťašovská


The paper deals with in-pipe machine locomotion description. The locomotion is described from the viewpoint of dynamics. Next part of the paper is dedicated to simulation model architecture. Micromachine behaviour is observed at simulation results.


in-pipe machine, inspection, locomotion, pipes

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering