Abstract
An anchoring system for an autonomous underwater robotic (AUR) vehicle used in fluid pipe inspection is disclosed. The system includes one or more extending or anchoring arms positioned on upper and lower sides of the AUR and a motorized actuator configured to extend and retract the arms under control of an onboard controller. The arms apply a controlled compressive force against an interior pipe wall to secure the AUR while maintaining a non-invasive contact profile that prevents surface damage. Optional features include soft end pads, telescoping or sliding arm structures, compression feedback control, spring-biased retraction, and pressure-resistant housings for submerged use. The controller may automatically synchronize or independently operate the arms to compensate for varying pipe diameters. The anchoring system stabilizes the AUR during inspection, data transfer, or recharging operations within fluid-filled pipelines.