Journal
ROBOTICA
Volume 28, Issue -, Pages 945-957Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574710000573
Keywords
Field robot; Construction robot; Building; Glass panel; Force feedback joystick
Categories
Funding
- Korean Government [KRF-2008-357-D00010]
- MKE (The Ministry of Knowledge Economy), Korea, under the Advanced Robot Manipulation Research Center [NIPA-2010-(C7000-1001-0002)]
- SAMSUNG CORPORATION
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Recently, there has been a lot of interest concerning remote-controlled robot manipulation in hazardous environments including construction sites, national defense areas, and disaster areas. However, there are problems involving the method of remote control in unstructured work environments such as construction sites. In a previous study, to address these problems, a multipurpose field robot (MFR) system was described. Though the case studies on construction, to which MFR for installing construction materials was applied, however, we found some factors to be improved. In this paper, we introduce a prototype of improved multipurpose field robot (IMFR) for construction work. This prototype robot helps a human operator easily install construction materials in remote sites through an upgraded additional module. This module consists of a force feedback joystick and a monitoring device. The human-robot interaction and bilateral communication for strategic control is also described. To evaluate the proposed IMFR, the installation of construction materials was simulated. We simulated the process of installing construction materials, in this case a glass panel. The IMFR was expected to do more accurate work, safely, at construction sites as well as at environmentally hazardous areas that are difficult for humans to approach.
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