Title :
An articulated service robot for autonomous sewer inspection tasks
Author :
Scholl, K.-U. ; Kepplin, V. ; Berns, K. ; Dillmann, R.
Author_Institution :
Forschungszentrum Inf. Karlsruhe, Germany
Abstract :
In this paper a multijoint robot for sewer inspection tasks is presented. In order to increase the operating scope the robot has been made able to run round or over obstacles, to follow sewage branches and is aimed to work wirelessly unlike most other sewer inspection robots. As a result of the wireless approach the robot has to carry an energy resource and must be able to act autonomously. This article is focused on the mechanical design and the control hardware of the system. Additionally, we describe a first approach of a control strategy and some results of first tests
Keywords :
inspection; mobile robots; waste disposal; articulated service robot; autonomous sewer inspection tasks; energy resource; multijoint robot; sewage branches; Batteries; Energy resources; Gears; Inspection; Microcontrollers; Orbital robotics; Prototypes; Service robots; Torque; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812823
