Towards Autonomous Inspection of Concrete Deterioration in Sewers with Legged Robots
Channel: Robotic Systems Lab: Legged Robotics at ETH Zürich
Date: 2020-06-01

We demonstrate a method to assess the concrete deterioration in sewers by performing a tactile inspection motion with a sensorized foot of a legged robot.

Title: Towards autonomous inspection of concrete deterioration in sewers with legged robots

Authors: Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice Fallon, Marco Hutter

Journal of Field Robotics, Volume 37, Issue 8
https://doi.org/10.1002/rob.21964

Part of the thesis "Quadrupedal Robots for Planetary Exploration":
https://www.research-collection.ethz.ch/handle/20.500.11850/489008

For more information visit:
thing-h2020.eu
rsl.ethz.ch
ori.ox.ac.uk
anymal-research.org
www.botasys.com

Force Torque Sensor : https://www.botasys.com/rokubi
Music: www.bensound.com

The authors want to thank Roman Weiss and his colleagues from ERZ - Entsorgung + Recycling Zurich for their support during the field tests and Klajd Lika as well as Ilias Patsiaouras from Bota Systems for their help in integrating the Force/Torque sensors into the feet.

This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 780883 and by the European Space Agency (ESA) and Airbus DS in the framework of the Network Partnering Initiative 481-2016. This work has been conducted as part of ANYmal Research, a community to advance legged robotics.