Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -

Satoshi Ashizawa; Yusuke Kuromiya; Toshiya Watanabe; Takeo Oomichi; Junichiro Maeda

doi:10.20965/jrm.2010.p0204

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JRM Vol.22 No.2 pp. 204-211

doi: 10.20965/jrm.2010.p0204

(2010)

Paper:

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Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -

Satoshi Ashizawa^, Yusuke Kuromiya^, Toshiya Watanabe^,
Takeo Oomichi^, and Junichiro Maeda^**

^*Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoyashi, Aichi 468-8502, Japan

^**Shimizu Corporation, 3-4-17 Etchujima, Koto-ku, Tokyo 135-8530, Japan

Received:

October 5, 2009

Accepted:

January 25, 2010

Published:

April 20, 2010

Keywords:

dismantling robot, mobile robot, cooperative system

Abstract

We have developed a dismantling robot for ceiling boards. The system design of the dismantling robot actually includes a cooperative system between humans and robots. It has a hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by a new method of cutting ceiling boards, and verified the effectiveness of the robot system.

Cite this article as:

S. Ashizawa, Y. Kuromiya, T. Watanabe, T. Oomichi, and J. Maeda, “Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -,” J. Robot. Mechatron., Vol.22 No.2, pp. 204-211, 2010.

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References

[1] Ministry of land, Infrastructure, Transport and Tourism, “Statistics on construction under taken,” 2009. (in Japanese)
[2] J. Naito, G. Obinata, A. Nakayama, and K. Hase, “Development of a Wearable Robot for Assisting Carpentry Workers,” Int. J. of Advanced Robotic Systems, Vol.4, No.4, ISSN 1729-8806, pp. 431-436, 2007.
[3] Y. Kuromiya, S. Ashizawa, T. Nawa, Y. Takaba, and T. Oomichi, “Development of detection and tracing mechanism for laid underground object,” 2009 JSME Conf. on Robotics and Mechatronics 1A1-B16, 2009. (in Japanese)
[4] T. Oomichi, M. Wakita, T. Inayama, and J. Maeda, “Development of the new method for dismantling of ceiling boards,” The 14th ROBOTICS Symposia, pp. 491-496, 2009. (in Japanese)
[5] K. Tanaka, M. Kajitani, C. Kanamori, and Y. Abe, “Development of a Construction Robot for Marking on Ceiling Boards,” J. of Robotics and Mechatronics, Vol.9, No.4, 1997.
[6] H. Yamada, G. Ming-de, and Z. Dingxuan, “Master-Slave Control for Construction Robot Teleoperation – Application of a Velocity Control with a Force Feedback Model,” J. of Robotics and Mechatronics, Vol.19, No.1, 2007.
[7] M. Hanai, S. Tsuchiya, H. Hibi, T. Nakasai, and H. Terada, “Development of Adaptive Production System (APS) to Market Uncertainty – Application to Automotive Starter Assembly Line,” J. of the Japan Soc. for Precision Engineering, Vol.65, No.8 pp. 1087-1091, 1999. (in Japanese)
[8] J. Maeda, T. Oomichi, T. Arai, T. Kotoku, and T. Tanikawa, “Development of Dismantling Robot System for Renewal Building,” Proc. JSME Conf. on Robotics and Mechatronics, DVD-R, 2P1-B05, 2008. (in Japanese)
[9] T. Oomichi, K. Mori, Y. Adachi, and T. Teshima, “System architecture for high reliability module mobile robot,” Trans. of the Soc. of Instrument and Control Engineer (Trans. of SICE), Vol.43, No.8, pp. 689-698, 2007. (in Japanese)
[10] T. Izuchi, M. Hotta, T. Oomichi, S. Seki, and J. Koyama, “Development of Network Pulg-in Actuator,” J. of Robotics and Mechatronics, Vol.19, No.2, 2007.
[11] Z. Liu, L. Guo, J. Wang, and K. Li, “An Integrated System of Driving Environment Recognition based on THASV-II,” J. of Mechanical Systems for Transportation and Logistics, Vol.1, No.3, pp. 252-263, 2008.
[12] T. Matsumaru, H. Yamamori, and T. Fujita, “Dynamic Remodeling of Environmental Map Using Range Data for Remote Operation of Mobile Robot,” J. of Robotics and Mechatronics, Vol.21, No.3, 2009.
[13] I. Nagai, and Y. Tanaka, “Mobile Robot with Floor Tracking Device for Localization and Control,” J. of Robotics and Mechatronics, Vol.19, No.1, 2007.
[14] Y. Le, H. Kojima, and K. Matsuda, “Cooperative Obstacle-Avoidance Pushing Transportation of a Planar Object with One Leader and Two Follower Mobile Robots,” J. of Robotics and Mechatronics, Vol.17, No.1, 2005.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Ministry of land, Infrastructure, Transport and Tourism, “Statistics on construction under taken,” 2009. (in Japanese)

[2] [2] J. Naito, G. Obinata, A. Nakayama, and K. Hase, “Development of a Wearable Robot for Assisting Carpentry Workers,” Int. J. of Advanced Robotic Systems, Vol.4, No.4, ISSN 1729-8806, pp. 431-436, 2007.

[3] [3] Y. Kuromiya, S. Ashizawa, T. Nawa, Y. Takaba, and T. Oomichi, “Development of detection and tracing mechanism for laid underground object,” 2009 JSME Conf. on Robotics and Mechatronics 1A1-B16, 2009. (in Japanese)

[4] [4] T. Oomichi, M. Wakita, T. Inayama, and J. Maeda, “Development of the new method for dismantling of ceiling boards,” The 14th ROBOTICS Symposia, pp. 491-496, 2009. (in Japanese)

[5] [5] K. Tanaka, M. Kajitani, C. Kanamori, and Y. Abe, “Development of a Construction Robot for Marking on Ceiling Boards,” J. of Robotics and Mechatronics, Vol.9, No.4, 1997.

[6] [6] H. Yamada, G. Ming-de, and Z. Dingxuan, “Master-Slave Control for Construction Robot Teleoperation – Application of a Velocity Control with a Force Feedback Model,” J. of Robotics and Mechatronics, Vol.19, No.1, 2007.

[7] [7] M. Hanai, S. Tsuchiya, H. Hibi, T. Nakasai, and H. Terada, “Development of Adaptive Production System (APS) to Market Uncertainty – Application to Automotive Starter Assembly Line,” J. of the Japan Soc. for Precision Engineering, Vol.65, No.8 pp. 1087-1091, 1999. (in Japanese)

[8] [8] J. Maeda, T. Oomichi, T. Arai, T. Kotoku, and T. Tanikawa, “Development of Dismantling Robot System for Renewal Building,” Proc. JSME Conf. on Robotics and Mechatronics, DVD-R, 2P1-B05, 2008. (in Japanese)

[9] [9] T. Oomichi, K. Mori, Y. Adachi, and T. Teshima, “System architecture for high reliability module mobile robot,” Trans. of the Soc. of Instrument and Control Engineer (Trans. of SICE), Vol.43, No.8, pp. 689-698, 2007. (in Japanese)

[10] [10] T. Izuchi, M. Hotta, T. Oomichi, S. Seki, and J. Koyama, “Development of Network Pulg-in Actuator,” J. of Robotics and Mechatronics, Vol.19, No.2, 2007.

[11] [11] Z. Liu, L. Guo, J. Wang, and K. Li, “An Integrated System of Driving Environment Recognition based on THASV-II,” J. of Mechanical Systems for Transportation and Logistics, Vol.1, No.3, pp. 252-263, 2008.

[12] [12] T. Matsumaru, H. Yamamori, and T. Fujita, “Dynamic Remodeling of Environmental Map Using Range Data for Remote Operation of Mobile Robot,” J. of Robotics and Mechatronics, Vol.21, No.3, 2009.

[13] [13] I. Nagai, and Y. Tanaka, “Mobile Robot with Floor Tracking Device for Localization and Control,” J. of Robotics and Mechatronics, Vol.19, No.1, 2007.

[14] [14] Y. Le, H. Kojima, and K. Matsuda, “Cooperative Obstacle-Avoidance Pushing Transportation of a Planar Object with One Leader and Two Follower Mobile Robots,” J. of Robotics and Mechatronics, Vol.17, No.1, 2005.

Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -

Satoshi Ashizawa*, Yusuke Kuromiya*, Toshiya Watanabe*, Takeo Oomichi*, and Junichiro Maeda**

Satoshi Ashizawa^, Yusuke Kuromiya^, Toshiya Watanabe^,
Takeo Oomichi^, and Junichiro Maeda^**