Remotely Operated Robots for Underground Applications

Abstract The use of autonomous systems for exploring underground structures is a promising technological step forward. These systems can be used for technical exploration, regular inspection, and also as first responders in emergencies as they offer the possibility of entering potentially hazardous areas with relatively little risk. Flying systems (drones, UAVs), land-based robots, and mobile systems are all suitable technology platforms for this purpose. An essential aspect of the use of such autonomous systems is the interaction between humans and machines. Humans may be present in the immediate working environment underground, for example as victims of an accident, or they may be operating the robotic systems. To this end, Graz University of Technology, Montanuniversität Leoben, and Imerys Talc Austria have formed a consortium that addresses precisely these aspects for land-based “robot dogs.” We focus on telepresence and teleoperation, whereby the robot acts as an avatar for humans and enables remote interaction with the environment. The robot does not serve to embody the person, but to enable them to perceive and act through it. The aim of this article is to demonstrate this interaction between humans and machines using practical examples. Particular attention is paid to operating the robot remotely and without direct visual contact. In addition to the technical and operational aspects, the use of robot sensors for correct visual representation and the requirements for smooth movement and remote perception are also discussed.