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JDR Vol.12 No.3 pp. 432-445
doi: 10.20965/jdr.2017.p0432
(2017)

Paper:

Development of a Remotely Controlled Semi-Underwater Heavy Carrier Robot for Unmanned Construction Works

Shin’ichi Yuta

New Unmanned Construction Technology Research Association (UC-Tec)
Toranomon KT Building Room#304, 5-11-15, Toranomon, Minato-ku, Tokyo 105-0001, Japan

Corresponding author

Received:
September 25, 2016
Accepted:
April 6, 2017
Online released:
May 29, 2017
Published:
June 1, 2017
Keywords:
unmanned construction, urgent disaster restoration, utilization range expansion of unmanned construction, semi-underwater vehicle, machine guidance for tele-operated construction machines
Abstract

We have been developing the crawler dump type heavy carrier robot since 2014. This robot can effectively travel a distance of a few hundred meters both on land and in shallow water. Through the use of a remote control, the robot can carry out unmanned construction in cases of flooding and waterside disasters. This paper reports part of the results obtained during development. Specifically, we report ① the consideration on a scenario for construction during an emergency by using remotely controlled heavy machinery under flooding conditions; ② the testing and findings of the first heavy carrier robot prototype with regard to water resistance and travelling performance; ③ the method of operation guidance based on the display of estimated ego-position to control the traveling of heavy machinery remotely and the results of experiments.

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Last updated on Dec. 12, 2017