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Dual-Arm Construction Robot with Remote-Control Function

  • Hiroshi YoshinadaEmail author
  • Keita Kurashiki
  • Daisuke Kondo
  • Keiji Nagatani
  • Seiga Kiribayashi
  • Masataka Fuchida
  • Masayuki Tanaka
  • Atsushi Yamashita
  • Hajime Asama
  • Takashi Shibata
  • Masatoshi Okutomi
  • Yoko Sasaki
  • Yasuyoshi Yokokohji
  • Masashi Konyo
  • Hikaru Nagano
  • Fumio Kanehiro
  • Tomomichi Sugihara
  • Genya Ishigami
  • Shingo Ozaki
  • Koich Suzumori
  • Toru Ide
  • Akina Yamamoto
  • Kiyohiro Hioki
  • Takeo Oomichi
  • Satoshi Ashizawa
  • Kenjiro Tadakuma
  • Toshi Takamori
  • Tetsuya Kimura
  • Robin R. Murphy
  • Satoshi Tadokoro
Chapter
Part of the Springer Tracts in Advanced Robotics book series (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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hiroshi Yoshinada
    • 1
    Email author
  • Keita Kurashiki
    • 1
  • Daisuke Kondo
    • 1
  • Keiji Nagatani
    • 2
  • Seiga Kiribayashi
    • 2
  • Masataka Fuchida
    • 3
  • Masayuki Tanaka
    • 4
  • Atsushi Yamashita
    • 3
  • Hajime Asama
    • 5
  • Takashi Shibata
    • 6
  • Masatoshi Okutomi
    • 7
  • Yoko Sasaki
    • 8
  • Yasuyoshi Yokokohji
    • 9
  • Masashi Konyo
    • 2
  • Hikaru Nagano
    • 2
  • Fumio Kanehiro
    • 8
  • Tomomichi Sugihara
    • 1
  • Genya Ishigami
    • 10
  • Shingo Ozaki
    • 11
  • Koich Suzumori
    • 7
  • Toru Ide
    • 7
  • Akina Yamamoto
    • 7
  • Kiyohiro Hioki
    • 12
  • Takeo Oomichi
    • 13
  • Satoshi Ashizawa
    • 13
  • Kenjiro Tadakuma
    • 2
  • Toshi Takamori
    • 14
  • Tetsuya Kimura
    • 15
  • Robin R. Murphy
    • 16
  • Satoshi Tadokoro
    • 2
  1. 1.Osaka UniversityOsakaJapan
  2. 2.Tohoku UniversitySendaiJapan
  3. 3.The University of TokyoTokyoJapan
  4. 4.Advanced Industrial Science and Technology (AIST)/Tokyo Institute of TechnologyTokyoJapan
  5. 5.University of TokyoTokyoJapan
  6. 6.NEC CorporationTokyoJapan
  7. 7.Tokyo Institute of TechnologyTokyoJapan
  8. 8.Advanced Industrial Science and Technology (AIST)TokyoJapan
  9. 9.Kobe UniversityKobeJapan
  10. 10.Keio UniversityTokyoJapan
  11. 11.Yokohama National UniversityYokohamaJapan
  12. 12.JPN CO. LTD.OtaJapan
  13. 13.Meijyo UniversityMeijyoJapan
  14. 14.International Rescue System Institute (IRS)KobeJapan
  15. 15.Nagaoka University of TechnologyNagaokaJapan
  16. 16.Texas A&M UniversityTexasUSA

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