Download PDFOpen PDF in browser

Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots

EasyChair Preprint no. 1271, version 3

Versions: 123history
14 pagesDate: September 5, 2019


We present a tactile inspection approach for legged robots which allows for evaluating concrete deterioration in medium to large-sized sewers. The legged robot, to this end, executes a well-defined scratching motion with one limb on the sewer floor. Inertial and Force/Torque sensors implemented in specially designed feet capture the resulting vibration. The data is used with concrete deterioration estimates from professional sewer inspectors to train a support vector machine. We achieved deterioration level estimates within three classes of over 92% accuracy. The dataset, which we recorded during a field test campaign in the sewers of Zurich is made publicly available.

Keyphrases: Autonomous inspection, Field Robotics, legged robot, Sewer inspection

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
  author = {Hendrik Kolvenbach and Giorgio Valsecchi and Ruben Grandia and Antoni Ruiz and Fabian Jenelten and Marco Hutter},
  title = {Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots},
  howpublished = {EasyChair Preprint no. 1271},

  year = {EasyChair, 2019}}
Download PDFOpen PDF in browser