IEEE Robotics & Automation Magazine - September 2018 - 19

the Amatrice municipality (two architects and one structural engineer) were present to validate the feasibility of
the tasks discussed in the "Mission Objectives and Requirements" section.
Tasks 1 and 2 concern the visual feedback provided by the
interface and the vision modules as tools to retrieve information on the house interior status and quantify the entirety of
the structural damages. Technical experts assessed on the
field the effectiveness of the systems for a first evaluation of
the building status, as required by the standard forms reported in Figure 2(c). Moreover, they confirmed that the use of
these tools can go beyond the simple operation of measuring
cracks, e.g., streaming the data collected to a remote consulting engineering firm.
Concerning manipulation tasks, object retrieval (task 3)
was demonstrated to be possible, although nontrivial, while
the sensor placement (task 4) was difficult due to the lack of
tactile feedback. Adding it would also enable the teleoperator to perform the sclerometer test, which is one of the most
common nondestructive tests on concrete structures. The

4
2
0
-2
-4
-6
250

b

c

300
Time (s)

300
Time (s)
(d)

x
y
z

350

(c)
0
-10

x
y
z

a

-20
-30
-40
150

350

c

b

x
y
z

Forces (N)

20
0
-20
-40
-60
-80
250

(b)

Torques (N . m)

Torques (N . m)

Forces (N)

(a)

long-term objective is to develop a humanoid system with
human-like capabilities, because wheeled systems have significant mobility limitation,
especially when the environment contains large
Technical experts
debris/holes or ladders to
overcome. In the present
assessed on the field
application, we decided
to implement a wheeled
the effectiveness of
base because legged locomotion was not at the
the systems for a first
development stage to
guarantee safe and robust
evaluation of the
navigation on uneven
terrain. It is worth noticbuilding status.
ing that, during postearthquake operations,
the main aim is to identify those building that survived the
earthquake and can be repaired. The buildings that are partially collapsed or visibly damaged are excluded from the

200

250
Time (s)

300

x
y
z

a

0

350

-1
-2
150

200

250
Time (s)
(e)

300

350

Figure 10. The WALK-MAN point of view when (a)-(c) collecting different objects using different strategies. The force-torque
measurements of the (d) left and (e) right hand are reported to highlight the interactions of the robot with the environment. The
letters in the graphs identify the peak loads related to the action of the corresponding photo.

september 2018

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

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19



IEEE Robotics & Automation Magazine - September 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018

Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
IEEE Robotics & Automation Magazine - September 2018 - 2
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