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Dual-Arm Construction Robot with Remote-Control Function

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Disaster Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 128))

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.

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Author information

Authors and Affiliations

  1. Osaka University, Osaka, Japan

    Hiroshi Yoshinada, Keita Kurashiki, Daisuke Kondo & Tomomichi Sugihara

  2. Tohoku University, Sendai, Japan

    Keiji Nagatani, Seiga Kiribayashi, Masashi Konyo, Hikaru Nagano, Kenjiro Tadakuma & Satoshi Tadokoro

  3. The University of Tokyo, Tokyo, Japan

    Masataka Fuchida & Atsushi Yamashita

  4. Advanced Industrial Science and Technology (AIST)/Tokyo Institute of Technology, Tokyo, Japan

    Masayuki Tanaka

  5. University of Tokyo, Tokyo, Japan

    Hajime Asama

  6. NEC Corporation, Tokyo, Japan

    Takashi Shibata

  7. Tokyo Institute of Technology, Tokyo, Japan

    Masatoshi Okutomi, Koich Suzumori, Toru Ide & Akina Yamamoto

  8. Advanced Industrial Science and Technology (AIST), Tokyo, Japan

    Yoko Sasaki & Fumio Kanehiro

  9. Kobe University, Kobe, Japan

    Yasuyoshi Yokokohji

  10. Keio University, Tokyo, Japan

    Genya Ishigami

  11. Yokohama National University, Yokohama, Japan

    Shingo Ozaki

  12. JPN CO. LTD., Ota, Japan

    Kiyohiro Hioki

  13. Meijyo University, Meijyo, Japan

    Takeo Oomichi & Satoshi Ashizawa

  14. International Rescue System Institute (IRS), Kobe, Japan

    Toshi Takamori

  15. Nagaoka University of Technology, Nagaoka, Japan

    Tetsuya Kimura

  16. Texas A&M University, Texas, USA

    Robin R. Murphy

Authors
  1. Hiroshi Yoshinada
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  2. Keita Kurashiki
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  30. Satoshi Tadokoro
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Corresponding author

Correspondence to Hiroshi Yoshinada .

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Editors and Affiliations

  1. Graduate School of Information Sciences, Tohoku University, Sendai, Japan

    Satoshi Tadokoro

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Yoshinada, H. et al. (2019). Dual-Arm Construction Robot with Remote-Control Function. In: Tadokoro, S. (eds) Disaster Robotics. Springer Tracts in Advanced Robotics, vol 128. Springer, Cham. https://doi.org/10.1007/978-3-030-05321-5_5

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