Robotics in Construction

Saidi, Kamel S.; O’Brien, Jonathan; Lytle, Alan M.

doi:10.1007/978-3-540-30301-5_48

Cited by 21 publications

(10 citation statements)

References 42 publications

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“…The total trajectory tracking error AT p is maximum value of tracking error along whole reference path as noted in Eq. (8).…”

Section: Evaluation Of Motion Performance In Wcsmentioning

confidence: 95%

“…The trajectory tracking errors AT p for this example, determined according to Eq. (8), are shown in Fig. 13.…”

Section: Wcs Movementmentioning

confidence: 96%

“…Thus, such solutions cannot be applied for renovation of older buildings. It can be difficult to reuse the technology even in a case of new buildings, due to construction projects that are usually one-off and unique [8]. The automated building system in Ref.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Closed-loop control of hydraulic telescopic handler

Činkelj

Kamnik

Cepon

et al. 2010

Automation in Construction

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“…The total trajectory tracking error AT p is maximum value of tracking error along whole reference path as noted in Eq. (8).…”

Section: Evaluation Of Motion Performance In Wcsmentioning

confidence: 95%

“…The trajectory tracking errors AT p for this example, determined according to Eq. (8), are shown in Fig. 13.…”

Section: Wcs Movementmentioning

confidence: 96%

See 1 more Smart Citation

Closed-loop control of hydraulic telescopic handler

Činkelj

Kamnik

Cepon

et al. 2010

Automation in Construction

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“…This 3D rig was made by attaching 18 Apriltags [14] on two intersecting planes forming a 90 degree angle (as shown in the top of Figure 3) so that the 3D coordinate X of each Apriltag's center could be readily measured. The process of calibration was then simply taking a sequence of N images of the rig and inputting them into the author-developed camera calibration tool 4 , which takes advantage of the Apriltag detection algorithm to detect the 2D image coordinate U of each tag center and establish correspondence with X. Then the initial camera intrinsic and extrinsic parameters can be obtained through Direct Linear Transform (DLT) [19] and subsequently optimized by bundle adjustment [20].…”

Section: Figure 3 Intrinsic Calibration Of Cameramentioning

confidence: 99%

“…This can be attributed to several commercial and technical challenges. From the commercial perspective, the fragmented and risk-averse nature of the construction industry leads to little investment in ARC research causing construction to lag behind other industries [4]. On the other hand, as described next, there are several technical complexities inherent in construction that have contributed to hindering the successful development and widespread use of field construction robots.…”

Section: Introductionmentioning

confidence: 99%

Towards Autonomous Robotic In-Situ Assembly on Unstructured Construction Sites Using Monocular Vision

Feng¹,

Xiao²,

Willette³

et al. 2014

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-Unlike robotics in the manufacturing industry, on-site construction robotics has to consider and address two unique challenges: 1) the rugged, evolving, and unstructured environment of typical work sites; 2) the reversed spatial relationship between the product and the manipulator, i.e. the manipulator has to travel to and localize itself at the work face, rather than a partially complete product arriving at an anchored manipulator. The presented research designed and implemented algorithms that address these challenges and enable autonomous robotic assembly of freeform modular structures on construction sites. Building on the authors' previous work in computer-vision-based pose estimation, the designed algorithms enable a mobile robotic manipulator to: 1) autonomously identify and grasp prismatic building components (e.g., bricks, blocks) that are typically non-unique and arbitrarily stored on-site; and 2) assemble these components into predesigned modular structures. The algorithms use a single camera and a visual marker-based metrology to rapidly establish local reference frames and to detect staged building components. Based on the design of the structure being assembled, the algorithms automatically determine the assembly sequence. Implemented using a 7-axis KUKA KR100 robotic manipulator, the presented robotic system has successfully assembled various structures autonomously as shown in Figure 1, demonstrating the designed algorithms' effectiveness in autonomous on-site construction robotics applications.

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Toward Autonomous Robots for Demolitions in Unstructured Environments

Corucci

Ruffaldi

2015

Advances in Intelligent Systems and Computing

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The construction industry is a capital-intensive sector that is steadily turning towards mechanized and automated solutions in the last few decades. However, due to some specificities of this field, it is still technologically behind other sectors, such as manufacturing. Robotic technologies provide room for improvements, that could lead to economical, technical, and also social benefits. We present a possible conceptual framework for an autonomous robot for indoor demolitions, featuring enhanced perceptual capabilities, situational awareness, as well as intuitive Human-Robot Interaction (HRI) paradigms. The paper deals with several aspects of the demolition task, ranging from perception, to planning, to HRI. With respect to perception, we focus on the design and development of some of the perceptual capabilities needed for such robots, as essential to support autonomy, safety, and situational awareness in unstructured construction sites. Particularly, we propose a novel segmentation algorithm that allows the robot to work in highly unstructured scenarios, as well as a mechanism for detecting and quantifying spatial changes during the task. As far as HRI is concerned, a novel interaction paradigm based on laser designation is proposed. Proposed concepts were implemented and tested on a real, scaled-down, controlled mock-up that, while simplifying some aspects of the task, is able to mimic some general characteristics of a real demolition scenario. From lessons learned in this controlled environment we point out some requirements and foreseen issues in facing the complexity of a real demolition set-up.

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Robotics in Construction

Cited by 21 publications

References 42 publications

Closed-loop control of hydraulic telescopic handler

Closed-loop control of hydraulic telescopic handler

Towards Autonomous Robotic In-Situ Assembly on Unstructured Construction Sites Using Monocular Vision

Toward Autonomous Robots for Demolitions in Unstructured Environments

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