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The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack...
This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This...
In this paper, a practical system for detecting (identifying the on-off state of) the load applied to a construction manipulator (front load) by using a hydraulic sensor is presented. Such an industrial application requires high accuracy and robustness considering the uncertainty in hydraulic pressure-based force measurement. Therefore, our system is composed of (a) identifying the dominant error...
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