Figure 8
From: Active modification of the environment by a robot with construction abilities
Two-part foam type: Snapshots of the process of filling a 200 mm ditch. The robot autonomously detects the ditch and moves forward slowly (A), and then pours the polyurethane foam with a head sweeping motion (B). After each pouring, the robot moves back, waits 10 s, and then evaluates whether the ditch is filled (C). The robot repeatedly deposits polyurethane foam (D). After waiting 2 min, the robot pours foam into the next part of the ditch (E). Finally, the robot is able to cross the ditch (F). A thermometer and hygrometer are located on the front of the robot.