Compliant motion of a multi-segmented inspection robot

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Abstract
This paper presents a method to potentate the multi-segmented inspection robot Kairo-II to navigate in unstructured and dynamic environment. Previous methods for motion planning for such robots come from driving scenarios in highly structured areas. The virtual tube algorithm is introduced which enables a multi-segmented robot to range in such complex environment. Precise force feedback is required. Therefore, we present a sensor system which is based on strain-gauges technology. Information extracted by this sensor enables the trajectory planning algorithm to adapt its curve. Thus, the proposed system provides and evaluates key functions for compliant motion of a multi-segmented robot within unstructured environment.