Development of Tele-Operated Underfloor Mobile Manipulator
Shunsuke Sato, Tianlin Song, and Yasumichi Aiyama
University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan
In this study, we propose a tele-operated mobile manipulator for conducting underfloor work, including both inspection and repair. We focus on a caulking operation, and develop a mobile manipulator for finding and repairing cracks in a foundation. When designing the mobile manipulator, we consider a typical narrow underfloor environment, and perform detailed calculations. As a user interface, we furnish an image-pointing system for enabling us to operate the manipulator simply by clicking on a hand camera image. Then, we evaluate its performance based on navigation experiments, trajectory tracking experiments, and overall evaluation experiments.
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