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; Toru Ide; Akina Yamamoto; Kiyohiro Hioki; Takeo Oomichi; Satoshi Ashizawa; Kenjiro Tadakuma; Toshi Takamori; Tetsuya Kimura; Robin R. Murphy; Satoshi Tadokoro

doi:10.1007/978-3-030-05321-5_5

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 SuzumoriToru 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 proceeding › Chapter › peer-review

9 Citations (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 language	English
Title of host publication	Springer Tracts in Advanced Robotics
Publisher	Springer Verlag
Pages	195-264
Number of pages	70
DOIs	https://doi.org/10.1007/978-3-030-05321-5_5
Publication status	Published - 2019

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	128
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

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10.1007/978-3-030-05321-5_5

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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., ... 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

@inbook{1d2786655be441419ab3bd5f31ac249f,

title = "Dual-arm construction robot with remote-control function",

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{\textquoteright}s capacity to deal with large-scale disasters and accidents.",

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

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.",

year = "2019",

doi = "10.1007/978-3-030-05321-5_5",

language = "English",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer Verlag",

pages = "195--264",

booktitle = "Springer Tracts in Advanced Robotics",

address = "Germany",

}

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

TY - CHAP

T1 - Dual-arm construction robot with remote-control function

AU - Yoshinada, Hiroshi

AU - Kurashiki, Keita

AU - Kondo, Daisuke

AU - Nagatani, Keiji

AU - Kiribayashi, Seiga

AU - Fuchida, Masataka

AU - Tanaka, Masayuki

AU - Yamashita, Atsushi

AU - Asama, Hajime

AU - Shibata, Takashi

AU - Okutomi, Masatoshi

AU - Sasaki, Yoko

AU - Yokokohji, Yasuyoshi

AU - Konyo, Masashi

AU - Nagano, Hikaru

AU - Kanehiro, Fumio

AU - Sugihara, Tomomichi

AU - Ishigami, Genya

AU - Ozaki, Shingo

AU - Suzumori, Koich

AU - Ide, Toru

AU - Yamamoto, Akina

AU - Hioki, Kiyohiro

AU - Oomichi, Takeo

AU - Ashizawa, Satoshi

AU - Tadakuma, Kenjiro

AU - Takamori, Toshi

AU - Kimura, Tetsuya

AU - Murphy, Robin R.

AU - Tadokoro, Satoshi

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

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U2 - 10.1007/978-3-030-05321-5_5

DO - 10.1007/978-3-030-05321-5_5

M3 - Chapter

AN - SCOPUS:85061162326

T3 - Springer Tracts in Advanced Robotics

SP - 195

EP - 264

BT - Springer Tracts in Advanced Robotics

PB - Springer Verlag

ER -

Dual-arm construction robot with remote-control function

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