Controlling a Multijoint Robot for Autonomous Sewer Inspection

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. In this article we give a short description of the mechanical design and the electronical components. Then we describe the controle system and show sequences and results of in pipe experiments.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Kai-Ulrich Scholl, Volker Kepplin, Karsten Berns, Rüdiger Dillmann
• Keywords: ICRA 2000, Robot, Robotics, Sewer Inspection, Sewer Inspection Tasks