Development of sensorized feet for sewer inspection with quadrupedal robots
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/169133
Tutor / directorKolvenbach, Hendrik
Realitzat a/ambEidgenössische Technische Hochschule Zürich
Tipus de documentProjecte Final de Màster Oficial
Data2018
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The main purpose of the project is to integrate sensors in the feet of the ANYmal,
a quadrupedal robot capable of performing autonomous inspections in harsh
environments, with the goal of performing sewer inspections included in the
subTerranean Haptic INvestiGator project (THING).
The objectives of the project have been divided between: the development of a
haptic perception application which allows the ANYmal to differentiate between
surfaces while scratching its feet; and the integration of sensors in the ANYmal’s
feet to perform a water quality analysis in the sewer.
To achieve the desired haptic perception, a foot mockup has been built to test the
sensors selected for this application (piezo vibration sensors and an inertial
measurement unit). The testing has provided promising results to validate the use
of these sensors.
After the results obtained with the foot mockup, these sensors have been
integrated in the foot sole of the ANYmal and another a test has been performed,
making the foot sole slide manually. The results of this test, again promising, have
been verified using the Classification Learner App from the Machine Learning
Toolbox of Matlab.
Finally, a waterproof case has been designed to be attached at the frontal right
foot of the ANYmal with the purpose of housing all these sensors.
Since the sewer inspection also contains the water quality analysis, another case,
which will be attached in the frontal left foot of the ANYmal, has been designed
to house the selected sensors capable of measuring properties of the water such as
the temperature and the electrical conductivity.
The project has been concluded by performing a scratching motion test with the
prototype attached in the feet of the ANYmal.
Therefore, this project contributes to the THING project by giving the ANYmal
the possibility of performing autonomous sewer inspections.
TitulacióMÀSTER UNIVERSITARI EN ENGINYERIA INDUSTRIAL (Pla 2014)
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
Master's Thesis Report - Antoni Ruiz Bassols.pdf | 11,79Mb | Visualitza/Obre |