Author:
Sato Shunsuke, ,Song Tianlin,Aiyama Yasumichi
Abstract
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.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
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