Real Environment Testing of Quadruped Robot Mobile Manipulator in Oil and Gas Facilities

This paper outlines a testing of quadruped robot mobile manipulation using robotic arm in oil and gas facilities to explore the opportunities and challenges of a full unmanned operation. Robotic arm replicates the agility of human hand, wrist, and fingers with an ability to perform hazardous tasks in inaccessible area. Four manipulation activities of panel door opening, valve opening, buttons and switches on/off and liquid sample collection are performed. A mission workflow for the arm manipulation performance is identified and each task is evaluated in term of accuracy, time to completion, and precision.