Controlling a multi-joint robot for autonomous sewer inspection

In this paper a multi-joint robot for sewer inspection tasks is presented. In order to increase the operating scope the robot has been designed to run round or over obstacles, to follow sewage branches and is operated with no wire attached to it. As a result of the wireless approach the robot has to carry an energy resource and must be abbe to act autonomously. In this paper we give a short description of the mechanical design and the electronic components used. Then we describe the control system and show sequences and results of in-pipe experiments