A fuzzy navigation system for mobile construction robots

Yu³

et al. 2010

Robotica

Recently, there has been a lot of interest concerning remotecontrolled robot manipulation in hazardous environments including construction sites, national defense areas, and disaster areas. However, there are problems involving the method of remote control in unstructured work environments such as construction sites. In a previous study, to address these problems, a multipurpose field robot (MFR) system was described. Though the case studies on construction, to which "MFR for installing construction materials" was applied, however, we found some factors to be improved. In this paper, we introduce a prototype of improved multipurpose field robot (IMFR) for construction work. This prototype robot helps a human operator easily install construction materials in remote sites through an upgraded additional module. This module consists of a force feedback joystick and a monitoring device. The human-robot interaction and bilateral communication for strategic control is also described. To evaluate the proposed IMFR, the installation of construction materials was simulated. We simulated the process of installing construction materials, in this case a glass panel. The IMFR was expected to do more accurate work, safely, at construction sites as well as at environmentally hazardous areas that are difficult for humans to approach.

Section: Introductionmentioning

confidence: 99%

An improved multipurpose field robot for installing construction materials

Yu³

et al. 2010

Robotica

“…Here, Lee and Lee et al indicated that a field robot is defined as one that executes orders while moving around in a dynamic environment where structures, operators and equipments are constantly changing (Lee, 2002;Lee et al, 1997). To date, field robots have been designed specifically for a particular environment and used in various industries such as agriculture, construction, engineering, space exploration and deep sea diving, due to the inherent dangers and costs associated with these fields (Hollingum, 1999;Kangari, 1991;LeMaster et al, 2003;Whitcomb, 2000).…”

Section: Introductionmentioning

confidence: 99%

“…To date, field robots have been designed specifically for a particular environment and used in various industries such as agriculture, construction, engineering, space exploration and deep sea diving, due to the inherent dangers and costs associated with these fields (Hollingum, 1999;Kangari, 1991;LeMaster et al, 2003;Whitcomb, 2000). Lee et al and Wong et al described the basic elements of a field robot consist of a mobile platform for executing a particular operation in a dynamic environment, sensors and intelligence technology to recognize and cope with barriers in the routes in which they move, and a manipulator for executing a desired operation in place of a human (Lee et al, 1997;Wong and Spetsakis, 2000). Until now, the development process of field robots has focused on the basic elements, separate from planning to designing, production, testing and inspection.…”

Section: Introductionmentioning

confidence: 99%

MFR (Multipurpose Field Robot) for installing construction materials

Park

et al. 2007

Auton Robot

The objective of the study was to propose a MFR (Multipurpose Field Robot) in hazardous operation environments. This system combines a basic system composed of a multi-DOF (Degree Of Freedom) manipulator and a mobile platform with an additional module for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system, it can be used in a various fields. In this study, we describe a prototype of construction robot which helps a human operator handle easily construction materials in case of using the cooperation system on construction site. This study introduces an additional a novel construction method to install construction materials with robot on construction site.

“…In this discussion, a field robot is defined as one that executes orders while moving around in a dynamic environment where structures, operators, and equipment are constantly changing [5,6]. Until now, the development process of field robots has focused on the singletask robots, separate from planning to designing, production, testing, and inspection.…”

Section: Introductionmentioning

confidence: 99%

Intuitive OCU (Operator Control Unit) of MFR (Multipurpose Field Robot) on Construction Site

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

et al. 2007

Recently, there has been a lot of interest concerning remote-control construction robot manipulation in hazardous operation environments including construction sites. However, there are problems involving the method of remote-control in unstructured work environments such as construction sites. In this study, an improved MFR system is described, which helps a human operator to easily install construction materials through an intuitive Operator Control Unit (OCU) on construction sites. The OCU consists of a force reflecting joystick and a vision system. The active compliance control and bilateral communication for strategic control is also described. In order to evaluate the proposed OCU, the installation of construction materials is simulated.