This project developed compact, lightweight, prototype Electro-Magnetic Acoustic Transducers (EMATs) and studied guided waves for defect detection, classification, and characterization in cast iron and steel pipes. Through lab testing, design, and Finite Element Analysis (FEA), guided wave propagation and defect interactions were evaluated, and the results were employed to optimize the prototype EMATs through successive design and testing iterations. The goal of developing EMATs for robotic inspection of unpiggable pipe was successfully achieved and demonstrated not only through prototype fabrication and testing but also through conceptual design modifications to ULC's CIRRIS XITM robot that incorporated EMATs onto the robot.