The Experimental Humanoid Robot E2-DR: A Design for Inspection and Disaster Response in Industrial Environments

Abstract

Against the backdrop of a rising number of disasters in industrial facilities due to a lack of maintenance, robots are expected to increasingly undertake dangerous, dirty, and laborious tasks conventionally performed by humans, such as daily maintenance and inspection of industrial plants. It is much safer to use robots to gather information and conduct first response, but, with the installation of new equipment over time, the narrow premises of industrial infrastructure become obstructed with equipment. Robots navigating these spaces must achieve mobility utilizing narrow pathways, steep stairs, vertical ladders, and gaps while also fulfilling manipulation tasks like opening doors and valves.