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dc.contributor.author
Kolvenbach, Hendrik
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2017-09-11T12:54:43Z
dc.date.available
2017-08-18T08:25:12Z
dc.date.available
2017-08-18T08:38:15Z
dc.date.available
2017-08-21T05:43:52Z
dc.date.available
2017-09-11T12:53:10Z
dc.date.available
2017-09-11T12:54:43Z
dc.date.issued
2017-09
dc.identifier.uri
http://hdl.handle.net/20.500.11850/178433
dc.identifier.doi
10.3929/ethz-b-000178433
dc.description.abstract
In this paper we describe the design of a fully autonomous docking stationfor the quadrupedal robot ANYmal. The autonomous recharging of mobile robotsis a crucial feature when long-term autonomy is expected or human intervention isnot possible. This is the case when a robot is used in environments that create apotential hazard to humans such as the inspection of oil rig platforms. If operated insuch explosive environments, machines are usually required to be frequently purgedwith inert gas to avoid ignition through electric sparking (ATEX-P certification).Our docking station allows for recharging of ANYmal’s battery as well as purgingof its main body with gas. We present a robust docking strategy that negotiatespositioning errors of the robot through guiding elements and flexible parts. Thedocking mechanism itself consists of an actuated plug which is inserted into a socketon the robot’s belly for electrical and mechanical connection. The mechanism isdesigned for reliable, sealed and spark-free operation. The system has proven to berobust in a laboratory environment and under realistic conditions.
en_US
dc.format
application/pdf
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Legged robotics
en_US
dc.subject
Autonomous recharging
en_US
dc.subject
Quadruped robot
en_US
dc.subject
Docking
en_US
dc.subject
Mobile robots
en_US
dc.title
Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
12 p.
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
11th Conference on Field and Service Robotics (FSR) 2017
en_US
ethz.event.location
Zurich, Switzerland
en_US
ethz.event.date
September 12-15, 2017
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.tag
RSL
en_US
ethz.date.deposited
2017-08-18T08:25:13Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-09-11T12:54:49Z
ethz.rosetta.lastUpdated
2021-02-14T18:39:52Z
ethz.rosetta.versionExported
true
ethz.COinS
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