Robotic inspection apparatus and method

A mobile robot comprising:

• a body;
• a pair of spaced apart, shiftable traction elements adapted to engage a surface over which a robot is to traverse;
• means pivotally mounting said traction elements to said body for independent pivoting movement thereof relative to the body;
• means for independent shifting movement of said of the traction elements respectively;
• a carriage pivotally coupled to said body for pivoting thereof independently of the pivoting of said traction elements;
• and
• an operating unit supported on said carriage for carrying out a desired operation on or adjacent said surface.

A method of performing an operation on or adjacent a surface of an elongated member, said method comprising the steps of:

• placing at least one mobile robot in engagement with a surface region of said elongated member, said mobile robot including a body equipped with a pair of spaced apart, shiftable, surface-engaging traction elements;
• holding said mobile robot in tractive engagement with said surface region by a tether assembly operatively coupled with the mobile robot;
• and
• selectively and individually shifting the traction elements of said mobile robot and simultaneously adjusting the tension of said tether assembly for causing said robot to traverse said surface region.