MOBILITY, INSPECTION
AND OPERATIONS
Lead: Ioannis Havoutis, University of Oxford
Many of the nuclear environments
that robots will need to navigate
are complex, with little to no
lighting or visibility.
Developing sensing and navigation
technology, that fuses data from
multiple sources, gives the robotic
platforms robust situational awareness.
Incorporating sensor data into navigation
algorithms improves the dynamic mobility
of all platforms, particularly the legged
robots necessary for crossing rough and
uncertain terrain.
KEY PROGRESS
• Development of a state estimator for
the Corin hexapod. This computes a
position and orientation estimate with
low error, while the robot is executing
advanced motions.
• Optimization of the leg layout for
the RAIN Hex to suit walking and
maintenance tasks.
• Creation of high-grip custom robot feet
for the Corin hexapod.
• Development of a neutron detector and
integration with the RAIN robots.
• Development of path and motion
planning approaches for overcoming
challenging uneven terrain with
legged robots.
Data from Createc's Gamma sensor mapped onto a 5m x 5m room.
The multicoloured area locates the gamma source.
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