Dual-arm construction robot with remote-control function

Hiroshi Yoshinada, Keita Kurashiki, Daisuke Kondo, Keiji Nagatani, Seiga Kiribayashi, Masataka Fuchida, Masayuki Tanaka, Atsushi Yamashita, Hajime Asama, Takashi Shibata, Masatoshi Okutomi, Yoko Sasaki, Yasuyoshi Yokokohji, Masashi Konyo, Hikaru Nagano, Fumio Kanehiro, Tomomichi Sugihara, Genya Ishigami, Shingo Ozaki, Koich Suzumori & 10 others Toru Ide, Akina Yamamoto, Kiyohiro Hioki, Takeo Oomichi, Satoshi Ashizawa, Kenjiro Tadakuma, Toshi Takamori, Tetsuya Kimura, Robin R. Murphy, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

In disaster areas, operating heavy construction equipment remotely and autonomously is necessary, but conventional remote-controlled heavy equipment has problems such as insufficient operability, limited mobility on slopes and stairs, and low work efficiency because of difficult remote control. As part of the ImPACT-TRC Program, a group of Japanese researchers attempts to solve these problems by developing a construction robot for disaster relief tasks with a new mechanism and new control methods. This chapter presents the overview of construction robot and the details of main elemental technologies making up the robot. Section 5.1 describes the basic configuration of the robot and the teleoperation system. Section 5.2 is a tether powered drone which provides extra visual information. Sections 5.4 and 5.3 are force and tactile feedback for skillful teleoperation. Section 5.5 is visual information feedback which consists of an arbitrary viewpoint visualization system and a visible and LWIR camera system to observe surrounding of the robot in a dark night scene and/or a very foggy scene. These functions can dramatically increase construction equipment’s capacity to deal with large-scale disasters and accidents.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages195-264
Number of pages70
DOIs
Publication statusPublished - 2019 Jan 1

Publication series

NameSpringer Tracts in Advanced Robotics
Volume128
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Fingerprint

Remote control
Robots
Disasters
Construction equipment
Feedback
Stairs
Accidents
Visualization
Cameras

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Yoshinada, H., Kurashiki, K., Kondo, D., Nagatani, K., Kiribayashi, S., Fuchida, M., ... Tadokoro, S. (2019). Dual-arm construction robot with remote-control function. In Springer Tracts in Advanced Robotics (pp. 195-264). (Springer Tracts in Advanced Robotics; Vol. 128). Springer Verlag. https://doi.org/10.1007/978-3-030-05321-5_5

Dual-arm construction robot with remote-control function. / Yoshinada, Hiroshi; Kurashiki, Keita; Kondo, Daisuke; Nagatani, Keiji; Kiribayashi, Seiga; Fuchida, Masataka; Tanaka, Masayuki; Yamashita, Atsushi; Asama, Hajime; Shibata, Takashi; Okutomi, Masatoshi; Sasaki, Yoko; Yokokohji, Yasuyoshi; Konyo, Masashi; Nagano, Hikaru; Kanehiro, Fumio; Sugihara, Tomomichi; Ishigami, Genya; Ozaki, Shingo; Suzumori, Koich; Ide, Toru; Yamamoto, Akina; Hioki, Kiyohiro; Oomichi, Takeo; Ashizawa, Satoshi; Tadakuma, Kenjiro; Takamori, Toshi; Kimura, Tetsuya; Murphy, Robin R.; Tadokoro, Satoshi.

Springer Tracts in Advanced Robotics. Springer Verlag, 2019. p. 195-264 (Springer Tracts in Advanced Robotics; Vol. 128).

Research output: Chapter in Book/Report/Conference proceedingChapter

Yoshinada, H, Kurashiki, K, Kondo, D, Nagatani, K, Kiribayashi, S, Fuchida, M, Tanaka, M, Yamashita, A, Asama, H, Shibata, T, Okutomi, M, Sasaki, Y, Yokokohji, Y, Konyo, M, Nagano, H, Kanehiro, F, Sugihara, T, Ishigami, G, Ozaki, S, Suzumori, K, Ide, T, Yamamoto, A, Hioki, K, Oomichi, T, Ashizawa, S, Tadakuma, K, Takamori, T, Kimura, T, Murphy, RR & Tadokoro, S 2019, Dual-arm construction robot with remote-control function. in Springer Tracts in Advanced Robotics. Springer Tracts in Advanced Robotics, vol. 128, Springer Verlag, pp. 195-264. https://doi.org/10.1007/978-3-030-05321-5_5
Yoshinada H, Kurashiki K, Kondo D, Nagatani K, Kiribayashi S, Fuchida M et al. Dual-arm construction robot with remote-control function. In Springer Tracts in Advanced Robotics. Springer Verlag. 2019. p. 195-264. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-030-05321-5_5
Yoshinada, Hiroshi ; Kurashiki, Keita ; Kondo, Daisuke ; Nagatani, Keiji ; Kiribayashi, Seiga ; Fuchida, Masataka ; Tanaka, Masayuki ; Yamashita, Atsushi ; Asama, Hajime ; Shibata, Takashi ; Okutomi, Masatoshi ; Sasaki, Yoko ; Yokokohji, Yasuyoshi ; Konyo, Masashi ; Nagano, Hikaru ; Kanehiro, Fumio ; Sugihara, Tomomichi ; Ishigami, Genya ; Ozaki, Shingo ; Suzumori, Koich ; Ide, Toru ; Yamamoto, Akina ; Hioki, Kiyohiro ; Oomichi, Takeo ; Ashizawa, Satoshi ; Tadakuma, Kenjiro ; Takamori, Toshi ; Kimura, Tetsuya ; Murphy, Robin R. ; Tadokoro, Satoshi. / Dual-arm construction robot with remote-control function. Springer Tracts in Advanced Robotics. Springer Verlag, 2019. pp. 195-264 (Springer Tracts in Advanced Robotics).
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