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Proceedings Paper

Multijoint robot for autonomous sewer inspection
Author(s): Karsten Berns; Winfried Ilg; Stefan Cordes; Martin Eberl; Robert Suna
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Paper 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.

Paper Details

Date Published: 23 January 1997
PDF: 12 pages
Proc. SPIE 2903, Mobile Robots XI and Automated Vehicle Control Systems, (23 January 1997); doi: 10.1117/12.265343
Show Author Affiliations
Karsten Berns, Univ. Karlsruhe (Germany)
Winfried Ilg, Univ. Karlsruhe (Germany)
Stefan Cordes, Univ. Karlsruhe (Germany)
Martin Eberl, Univ. Karlsruhe (Germany)
Robert Suna, Univ. Karlsruhe (Germany)

Published in SPIE Proceedings Vol. 2903:
Mobile Robots XI and Automated Vehicle Control Systems
Chase H. Kenyon; Pushkin Kachroo, Editor(s)

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