Multiconfigurable Inspection Robots for Low Diameter Canalizations

Pipe inspection is a very important issue in construction. The inspection of low diameter canalizations is a pending issue nowadays, however it would help to repair and maintain a large amount of installations. In this article the lines that are followed to build a robot that is capable to move inside pipes of less than 26mm and negotiate bends while carrying a camera are described, together with a walk through the state of the art of the robots which are related to the research.