Fig. 2From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristicsThe screw-drive robot with driving and detecting ability with one DC motor. a Prototype, b robot is under driving mode, c the solenoid is electrified, and robot is under detecting mode and check the defect of the pipe, d after checking the area, the solenoid is set off, and the robot is back to driving mode again, e another operation cycle of detectingBack to article page