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.

At our institute we built a variety of robots. As these robots are quite different as well in size, shape and in actuation principle it would be very time consuming and inefficient to build a computer and hardware architecture especially tailored to the specific robot. In this paper it will be described how common aspects in robot control can be identified and how a modular software framework and a respective computer architecture can be mapped to modular components on the hardware side. A decentralized computer architecture based on embedded PC systems connected to local controller modules via CAN-Bus was developed. The requirements and restrictions that led to the development of these controller modules and their associated power amplifier boards will be described

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