Abstract: A variably controllable instrument is shown, which comprises multiple modified origami-type structures in series. Each modified origami-type structure interfaces with an adjacent modified origami-type structure and each modified origami-type structure has holes, which are aligned with holes from its neighboring modified origami-type structure. Cords or rivets are threaded through the aligned holes. By applying different amounts of tension in each of the cords, bends and turns are inducible at each interface between adjacent modified origami-type structures. These bends permit variable control in either transverse direction and for tools to be mounted inside, through or alongside the system. The control of the system can be manual, automated or a combination thereof.

Abstract: A robotic in-pipe inspection system having a front that moves independently of the rear. The system comprises a center shaft that has a connector that allows a front portion of the shaft to be at a desired angle from a rear portion of the shaft. A front leg assembly is operatively coupled to the front portion of the shaft, while a rear leg assembly is operatively coupled to the rear portion of the shaft. The front leg assembly comprises front legs that can be positioned at various angles relative to each other, while the rear leg assembly comprises rear legs that can similarly be positioned at various angles relative to each other. The system also includes a shaft controller (for controlling the desired angle of the center shaft), a front controller (for controlling the front leg assembly), and a rear controller (for controlling the rear leg assembly).

Abstract: A robotic in-pipe inspection system having a front that moves independently of the rear. The system comprises a center shaft that has a connector that allows a front portion of the shaft to be at a desired angle from a rear portion of the shaft. A front leg assembly is operatively coupled to the front portion of the shaft, while a rear leg assembly is operatively coupled to the rear portion of the shaft. The front leg assembly comprises front legs that can be positioned at various angles relative to each other, while the rear leg assembly comprises rear legs that can similarly be positioned at various angles relative to each other. The system also includes a shaft controller (for controlling the desired angle of the center shaft), a front controller (for controlling the front leg assembly), and a rear controller (for controlling the rear leg assembly).