Support System for Slope Shaping Based on a Teleoperated Construction Robot

Katsutoshi Ootsubo; Daichi Kato; Takuya Kawamura; Hironao Yamada

doi:10.20965/jrm.2016.p0149

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JRM Vol.28 No.2 pp. 149-157

doi: 10.20965/jrm.2016.p0149

(2016)

Paper:

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Support System for Slope Shaping Based on a Teleoperated Construction Robot

Katsutoshi Ootsubo^*, Daichi Kato^**, Takuya Kawamura^, and Hironao Yamada^

^*Gifu University
1-1 Yanagido, Gifu City, Gifu 501-1193, Japan

^**Amada Machine Tools Co., Ltd.
200 Ishida, Isehara City, Kanagawa 259-1196, Japan

Received:

October 17, 2015

Accepted:

February 8, 2016

Published:

April 20, 2016

Keywords:

construction robot, teleoperation, slope shaping, augmented reality

Abstract

Slope shaping is important for the prevention of and recovery from sediment disasters. Because of the danger of direct operation at disaster scenes, teleoperation is the most efficient method for slope shaping. In this paper, we propose a support system for the teleoperation of slope shaping using a construction robot. The system is composed of two sub-systems: an Augmented Reality (AR) finishing stake system and a system for evaluating finished shape deviation. The former is an AR system which presents a virtual finishing stake to the operator of a construction robot. The latter is an evaluation system which measures the actual shape of the slope in 3D and presents its deviation from the planned shape. Moreover, we developed multiple Computer Graphics (CG) patterns of the virtual finishing stake. In this study, first, we verified the usefulness of a real finishing stake quantitatively via subjective experiments. Then we verified the effectiveness of our proposed systems and identified the optimal CG pattern of the virtual finishing stake via the experiments. Based on the results, we discuss the usefulness of the finishing stake and the effectiveness of our system for slope shaping using a teleoperated construction robot.

Slope shaping by using our proposed system

Cite this article as:

K. Ootsubo, D. Kato, T. Kawamura, and H. Yamada, “Support System for Slope Shaping Based on a Teleoperated Construction Robot,” J. Robot. Mechatron., Vol.28 No.2, pp. 149-157, 2016.

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References

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[3] K. Ootsubo, T. Kawamura, and H. Yamada, “Construction Tele-robotic System with AR Presentation,” J. of Physics: Conf. Series, Vol.433, IOP Publishing, 012029, 2013.
[4] K. Ootsubo, R. Nakamura, T. Kawamura, and H. Yamada, “Presentation Method of Soil Strength for a Construction Robot,” Proc. of the 9th JFPS Int. Symposium on Fluid Power, 1C1-3, 2014.
[5] H. Yamada, H. Kato, and T. Muto, “Master-slave control for construction robot teleoperation,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 54-60, 2003.
[6] D. Zhao, Y. Xia, H. Yamada, and T. Muto, “Control method for realistic motions in a construction tele-robotic system with a 3-DOF parallel mechanism,” J. of Robotics and Mechatronics, Vol.15, No.4, pp. 361-368, 2003.
[7] H. Yamada, M. Gong, and D. Zhao, “A master-slave control for a tele-operation system for a construction robot: Application of a velocity control method with a force feedback model,” J. of Robotics and Mechatronics, Vol.19, No.1, pp. 60-67, 2006.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] J. Xue, L. Zhang, and T. E. Grift, “Variable field-of-view machine vision based row guidance of an agricultural robot,” J. of Computers and Electronics in Agriculture, Vol.84, pp. 85-91, 2012.

[2] [2] C. L. Perkinson, M. E. Bayraktar, and I. Ahmad, “The use of computing technology in highway construction as a total jobsite management tool,” J. of Automation in Construction, Vol.19, No.7, pp. 884-897, 2010.

[3] [3] K. Ootsubo, T. Kawamura, and H. Yamada, “Construction Tele-robotic System with AR Presentation,” J. of Physics: Conf. Series, Vol.433, IOP Publishing, 012029, 2013.

[4] [4] K. Ootsubo, R. Nakamura, T. Kawamura, and H. Yamada, “Presentation Method of Soil Strength for a Construction Robot,” Proc. of the 9th JFPS Int. Symposium on Fluid Power, 1C1-3, 2014.

[5] [5] H. Yamada, H. Kato, and T. Muto, “Master-slave control for construction robot teleoperation,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 54-60, 2003.

[6] [6] D. Zhao, Y. Xia, H. Yamada, and T. Muto, “Control method for realistic motions in a construction tele-robotic system with a 3-DOF parallel mechanism,” J. of Robotics and Mechatronics, Vol.15, No.4, pp. 361-368, 2003.

[7] [7] H. Yamada, M. Gong, and D. Zhao, “A master-slave control for a tele-operation system for a construction robot: Application of a velocity control method with a force feedback model,” J. of Robotics and Mechatronics, Vol.19, No.1, pp. 60-67, 2006.

[8] [8] H. Kato and M. Billinghurst, “Marker Tracking and HMD Calibration for a video-based Augmented Reality Conferencing System,” Proc. of the 2nd Int. Workshop on Augmented Reality (IWAR 99), pp. 85-94, 1999.

[9] [9] S. Hart and L. Staveland, “Development of NASA-TLX (Task Load Index): Results of empirical and theoretical research,” Advances in Psychology, Human mental workload, Vol.52, North Holland, pp. 139-183, 1988.

[10] [10] M. Nozawa, I. Iida, H. Tubaki, T. Haga, M. Yarita, and T. Yoshizawa, “A Method for Evaluating Individual Variation in Paired Comparison Data,” The J. of the Japanese Society for Quality Control: The Quality, Vol.25, No.3, pp. 81-89, 1995.

Support System for Slope Shaping Based on a Teleoperated Construction Robot

Katsutoshi Ootsubo*, Daichi Kato**, Takuya Kawamura*, and Hironao Yamada*

Katsutoshi Ootsubo^*, Daichi Kato^**, Takuya Kawamura^, and Hironao Yamada^