Operating System of a Double-Front Work Machine for Simultaneous Operation

Ishii, Akinori

doi:10.22260/isarc2006/0101

Cited by 32 publications

(16 citation statements)

References 1 publication

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“…In dangerous environments where humans cannot survive, such as those contaminated with toxic gas and radioactivity, teleoperated machines, which operators control from safe remote M. Kamezaki sites, have contributed greatly to disaster response work [6]- [8]. Dual-arm hydraulic machines were used for debris disposal in areas damaged by the tsunami triggered by the Great East Japan Earthquake [9]. However, disaster response robots have recently been expected to have higher capabilities, including entering narrow spaces over very rough unstable ground and conducting complex debris-demolition work.…”

Section: Introductionmentioning

confidence: 99%

Design of four-arm four-crawler disaster response robot OCTOPUS

Kamezaki

Ishii

Ishida

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

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Section: Introductionmentioning

confidence: 99%

Design of four-arm four-crawler disaster response robot OCTOPUS

Kamezaki

Ishii

Ishida

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…To deal with complex demolition tasks efficiently, dualarm construction machinery, which has two manipulators with a grasping mechanism, as shown in Figure 2, has been developed. [13] Moreover, a material sorting system for automatically recycling debris [14] has been proposed.…”

Section: Introductionmentioning

confidence: 99%

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

2014

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A practical operator support system for disaster response work using construction machinery is applied to object-break operations using a dual-arm machine. An object-break operation, which separates an object into two different parts by applying massive pulling force, requires skillful force and trajectory controls. Operators typically have trouble visually perceiving the movement of the manipulator because the target object is strongly restrained. As a result, after the object has been separated into two pieces, the operator may continue performing lever operations because of unavoidable perception reaction time and the manipulator may collide with the surrounding environment. A control input cancellation system based on object-break identification is proposed to reduce the time difference between the object break and operation stoppage. A support system for disaster response situations must be safe and efficient and accommodate operators with various skill levels; thus, common physical phenomena related to the object breakage should be exploited. The system cancels control inputs to stop the movement of the manipulator when an object-break flag is detected, which is defined as a situation where the force applied to each joint of a manipulator decreases rapidly when a lever operation and load on the inside of the grapple are detected. Demolition experiments were conducted using a hydraulic dual-arm system. The results indicate that the displacement of the end-point after the object breaks is greatly decreased and the completion time of the task is reduced as well.

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“…Dual-arm construction machinery, which has two manipulators with a grasping mechanism, as shown in Fig. 1, was developed [1] in response to such social needs. Dual-arm operations might be expected to be similar to skillful human actions.…”

Section: Introductionmentioning

confidence: 99%

Operational support for ensuring safety object-removal using dual-arm construction machinery

Kamezaki

Shimada

Iwata

et al. 2012

2012 First International Conference on Innovative Engineering Systems

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This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of endeffector after removal and the number of error contacts are decreased while decreasing time consumption.

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Operating System of a Double-Front Work Machine for Simultaneous Operation

Cited by 32 publications

References 1 publication

Design of four-arm four-crawler disaster response robot OCTOPUS

Design of four-arm four-crawler disaster response robot OCTOPUS

A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

Operational support for ensuring safety object-removal using dual-arm construction machinery

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