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dc.contributor.author
Hutter, Marco
dc.contributor.author
Diethelm, Remo
dc.contributor.author
Bachmann, Samuel
dc.contributor.author
Fankhauser, Peter
dc.contributor.author
Gehring, Christian
dc.contributor.author
Tsounis, Vassilios
dc.contributor.author
Lauber, Andreas
dc.contributor.author
Guenther, Fabian
dc.contributor.author
Bjelonic, Marko
dc.contributor.author
Isler, Linus
dc.contributor.author
Kolvenbach, Hendrik
dc.contributor.author
Meyer, Konrad
dc.contributor.author
Hoepflinger, Markus
dc.date.accessioned
2017-09-06T06:42:11Z
dc.date.available
2017-09-06T04:12:59Z
dc.date.available
2017-09-06T06:42:11Z
dc.date.issued
2017-09
dc.identifier.uri
http://hdl.handle.net/20.500.11850/183150
dc.identifier.doi
10.3929/ethz-b-000183150
dc.description.abstract
Autonomous robotic inspection of industrial sites offers a huge potential with respect to increasing human safety and operational efficiency. The present paper provides an insight into the approach taken by team LIO during the ARGOS Challenge. In this international competition, the legged robot ANYmal was equipped with a sensor head to perform visual, acoustic, and thermal inspection on an oil and gas site. The robot was able to autonomously navigate on the outdoor industrial facilty using rotating line-LIDAR sensors for localization and terrain mapping. Thanks to the superior mobility of legged robots, ANYmal can omni-directionally move with statically and dynamically stable gaits while overcoming large obstacles and stairs. Moreover, the versatile machine can adapt its posture for inspection. The paper additionally provides insight into the methods applied for visual inspection of pressure gauges and concludes with some insight into the general learnings from the ARGOS Challenge.
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.title
Towards a Generic Solution for Inspection of Industrial Sites
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
14 p.
en_US
ethz.version.deposit
publishedVersion
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.identifier.url
https://www.fsr.ethz.ch/program/
ethz.date.deposited
2017-09-06T04:13:00Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-09-06T06:42:17Z
ethz.rosetta.lastUpdated
2019-01-02T09:28:55Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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