Abstract
The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the front separated 120° and three on the back in the same configuration, supporting the structure along the centre of the pipe. In this configuration the robot is able to clean and seal with a rotating tool, similar to a cylindrical robot, covering the entire 3D in-pipe space.
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