xi Acknowledgments xiii

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

Many researchers have controlled and analyzed biped robots that walk in the sagittal plane. Nevertheless, walking robots require the capability to walk merely laterally, when they are faced with the obstacles such as a wall. In walking robot field, both nonlinearity of the dynamic equations and also having a tracking system cause an effective control has to be utilized to address these problems...