Teleoperation of Construction Machines with Haptic Information for Underwater Applications

Akizono, J.; Hirabayashi, Taketsugu; Yamamoto, Takashi; Sakai, Hiroshi; Yano, Hiroaki; Iwasaki, Masaki

doi:10.22260/isarc2004/0059

Cited by 4 publications

(1 citation statement)

References 6 publications

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“…Underwater robotic construction is still in its infancy [4]: it has been directly addressed in the literature primarily focusing on tele-operated approaches. Akizono et al [1] proposed using a combination of a conventional camera system and haptic feedback to help a human operator control an underwater construction robot. The experiments were conducted on land but suggested success underwater.…”

Section: B Robotic Constructionmentioning

confidence: 99%

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Lensgraf¹,

Sniffen²,

Zitzewitz

et al. 2021

Robotics: Science and Systems XVII

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This paper presents a first low-cost autonomous robotic system for underwater assembly of mortarless structures. The long-term goal is to enable the construction of large-scale underwater structures, such as retaining walls and artificial reefs. The approach follows the principle of co-design; the 2-DOF manipulator and blocks are designed to complement the localization and control strategies. The blocks and gripper are designed with a connector geometry that removes error during pickup of blocks and drop assembly. This error correction feature allows a simplification of localization and control, which are based on fiducial markers on custom platforms. We developed the proposed system on a low-cost heavily modified BlueROV2 autonomous vehicle -which we call Droplet -with a two-degree of freedom hand that can open and close a gripper and rotate over the yaw. We performed extensive experiments in the pool to evaluate each component and the system as a whole. Results showed a 100 % success rate in dropping blocks in the presence of some localization and control errors as well as the assembly of several different 3D structures composed of up to eight blocks.

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Section: B Robotic Constructionmentioning

confidence: 99%

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Lensgraf¹,

Sniffen²,

Zitzewitz

et al. 2021

Robotics: Science and Systems XVII

View full text Add to dashboard Cite

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Robotic arm kinematics and bilateral haptic feedback over an ethernet communications link

Milne

Buchanan

Paulin

et al. 2013

2013 IEEE International Conference on Automation Science and Engineering (CASE)

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Combining teleoperation and haptic feedback is a challenging task. Haptic feedback makes a teleoperation system bilateral, introducing sensitivity to communication system delays. Delays are a common cause of control system instability, but with haptic feedback another source of instability is introduced due to the interaction between force and velocity which adds energy to the system. TCP/IP equipment is ubiquitous in both consumer and professional environments. Compared to other communications methods internet links are easy to set up and have widespread deployment. Two aspects of teleoperating a robotic system for field applications are discussed. Firstly kinematics and error propagation actuators to end effector position are analysed. Secondly bilateral haptic feedback over an internet (TCP/IP) link is presented. A novel method combining internet based teleoperation with haptic feedback is proposed to account for the unpredictable delays of internet links affecting stability and transparency. The method has been validated by the prototype haptic teleoperation system built around a pair of Phantom Omni arms.

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Haptic communication system using FPGA and real-time network framework

Tanaka

Ohnishi

Nishi

2009

2009 35th Annual Conference of IEEE Industrial Electronics

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In this paper, a scheme for a haptic communication system is proposed by using an FPGA (Field Programmable Gate Array) and real-time network framework, RTnet. In the haptic communication system, the FPGA is used as a motion control processor, and the Linux-based real-time network framework is applied to the communication line between a master and a slave robot. The FPGA can execute control calculations in a short interval. Sending a large number of packets in a short period is, however, not acceptable for the communication line. In the haptic communication system, the FPGA execute the control calculation in every 50 µs, and the packets are sent in every 1 ms to prevent network congestion. The degrees-of-freedom(DOF) of the haptic device can be increased without increasing the number of sending packets, since the data of the each DOF is packed into one packet in a Linux module. In this paper, a master-slave haptic communication system is developed. The master side consists of a haptic device, whereas the slave side consists of a virtual haptic device and a virtual environment. The validity of the haptic communication system is shown through an experiment.

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Teleoperation of Construction Machines with Haptic Information for Underwater Applications

Cited by 4 publications

References 6 publications

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Robotic arm kinematics and bilateral haptic feedback over an ethernet communications link

Haptic communication system using FPGA and real-time network framework

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