Figure 3
From: Active modification of the environment by a robot with construction abilities
Process overview of traversing a deep ditch. The robot autonomously detects a deep ditch (A, A’), and ejects polyurethane foam (B, B’). After ejecting the foam, the robot re-senses the ditch to determine whether it is completely filled (C, C’). Then, the robot waits until the polyurethane structure has hardened (D, D’), and moves across the structure (E, E’).