BinWalker: Development and Field Evaluation of a Quadruped Manipulator Platform for Sustainable Litter Collection

TL;DR

This paper introduces a quadruped robot equipped with perception and manipulation capabilities designed for autonomous litter collection in challenging outdoor environments, demonstrating its effectiveness through outdoor experiments.

Contribution

The work presents a novel quadruped robotic platform that integrates perception, locomotion, and manipulation specifically for environmental litter collection tasks.

Findings

Effective litter detection and grasping demonstrated in outdoor scenarios

Successful navigation of uneven terrains while collecting litter

Potential for large-scale environmental cleanup automation

Abstract

Litter pollution represents a growing environmental problem affecting natural and urban ecosystems worldwide. Waste discarded in public spaces often accumulates in areas that are difficult to access, such as uneven terrains, coastal environments, parks, and roadside vegetation. Over time, these materials degrade and release harmful substances, including toxic chemicals and microplastics, which can contaminate soil and water and pose serious threats to wildlife and human health. Despite increasing awareness of the problem, litter collection is still largely performed manually by human operators, making large-scale cleanup operations labor-intensive, time-consuming, and costly. Robotic solutions have the potential to support and partially automate environmental cleanup tasks. In this work, we present a quadruped robotic system designed for autonomous litter collection in challenging outdoor scenarios. The robot combines the mobility advantages of legged locomotion with a manipulation system consisting of a robotic arm and an onboard litter container. This configuration enables the robot to detect, grasp, and store litter items while navigating through uneven terrains. The proposed system aims to demonstrate the feasibility of integrating perception, locomotion, and manipulation on a legged robotic platform for environmental cleanup tasks. Experimental evaluations conducted in outdoor scenarios highlight the effectiveness of the approach and its potential for assisting large-scale litter removal operations in environments that are difficult to reach with traditional robotic platforms. The code associated with this work can be found at: https://github.com/iit-DLSLab/trash-collection-isaaclab.