Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage
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Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage Daniele Cafolla 1
&
Matteo Russo 2 & Marco Ceccarelli 2
Received: 28 June 2019 / Accepted: 17 February 2020 # Springer Nature B.V. 2020
Abstract Activity in Cultural Heritage frames aims to have a good monitoring of unknown cultural heritage also in an inaccessible site decreasing the cost of interventions. There are several robotics systems available both as rovers and drones. They are suited for inspection tasks in risky environments or for surveillance purposes provided of several sensors able to detect and monitor the area under examination, sometimes they can be also equipped with an end-effector for manipulation tasks or to collect objects. This paper introduces HeritageBot III (HBIII), a service robot for Cultural Heritage frames, which consists in a robotic platform with a modular design for both ground locomotion and flight capability. The proposed design is able to merge the advantages of drone and legged mobile robots in an innovative platform, able to navigate in most unknown environment. Keywords Robot design . Mobile robotics . Prototypes . Experimental robotics . Application for cultural heritage
1 Introduction The application of robotic systems to Cultural Heritage sites has been investigated in recent years both for exploration of new areas that are difficult or dangerous to reach, and for the surveillance and maintenance of existing archaeological sites. Both automatic, semi-automatic and remote-controlled systems have a great potential, since they can be used to improve the efficiency of the actions and decrease, at the same time, the cost of intervention [1]. Several kinds of mobile robots have been proposed for Cultural Heritage sites [2]. The most common ground robots for exploration are rovers with either wheels or crawlers, since they are suited to the inspection of dangerous environments. There are other kinds of exploration robots for specific tasks, such as the inspection robots for power transmission lines, for pipes, or for other kind of * Daniele Cafolla contact@danielecafolla.eu Matteo Russo matteo.russo@unicas.it Marco Ceccarelli marco.ceccarelli@unicas.it 1
IRCCS Neuromed, Pozzilli (IS), Italy
2
LARM: laboratory of Robotics and Mechatronics, DICEM, University of Cassino and Southern Latium, Cassino, Italy
structures, as described respectively in surveys [3–7]. A survey on rescue robots can be instead found in [8]. An example of rover used for the exploration of a dangerous environment in a difficult terrain is shown in [9]. A bidirectional causal relationship exists between, on one hand, a robot’s architecture, function, and behaviours and, on the other hand, the kind of robot and devices attached to that robot. Thus, if a robot is categorized and the devices which conform it are known, then it is possible to infer some information about the architecture, function or behaviours of that robot, [10]. Thus, robot motions primitives have to be chosen according to the behaviour that the robot ha
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