Electronic Appendix - Autonomous Navigation of Unknown Pipe Networks

9.1 Video: Contains an edited video of the NIVALIS I prototype robot navigating in horizontal and vertical 150 mm pipes and navigating through an elbow with manual control. 9.2 Video: Contains an edited video of the FURO I prototype robot navigating through an elbow with manual control. 9.3 Video: Contains an edited video of the FURO II prototype robot navigating through an elbow with the autonomous elbow controller running. CAD 9.1: Solidworks files for the design of the FURO II prototype9.1 视频：包含经剪辑的NIVALIS I原型机器人在水平、垂直150毫米管道内行进，并以手动控制方式通过弯头的视频。 9.2 视频：包含经剪辑的FURO I原型机器人以手动控制方式通过弯头的视频。 9.3 视频：包含经剪辑的FURO II原型机器人搭载自主弯头控制器运行时通过弯头的视频。 CAD 9.1：用于FURO II原型机器人设计的Solidworks文件。