An articulated service robot for autonomous sewer inspection tasks

In this paper a multijoint robot f o r sewer inspection tasks i s presented. In order t o increase the operating scope the robot has been made able t o run round or over obstacles, to follow sewage branches and is aimed t o work wirelessly unlike mos t other sewer inspection robots. A s a result of the wireless approach the robot has to carry an energy resource and mus t be able to act autonomously. This article i s focussed o n the mechanical design and the control hardware of the system. Additionally, we describe a first approach of a control strategy and some results of first tests.