23 January 1997 Multijoint robot for autonomous sewer inspection
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Abstract
In this paper a concept for a wheeled, multijoint robot able to operate in sewage systems is presented. The robot should work in an autonomous way. This concerns power supply, control and information processing. The cablefree navigation and the multijoint redundant construction of the robot enable higher mobility in sewage systems. In contrast to present systems, the robot should be able to avoid and overcome small obstacles, e.g. socket displacements, holes or sediments, and to pass junctions and curves. In the following the results of a feasibility study are described in which the state of the art in sewer inspection robot as well as first experiments for the development of such a system is shown.
© (1997) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Karsten Berns, Karsten Berns, Winfried Ilg, Winfried Ilg, Stefan Cordes, Stefan Cordes, Martin Eberl, Martin Eberl, Robert Suna, Robert Suna, } "Multijoint robot for autonomous sewer inspection", Proc. SPIE 2903, Mobile Robots XI and Automated Vehicle Control Systems, (23 January 1997); doi: 10.1117/12.265343; https://doi.org/10.1117/12.265343
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