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We are developing an autonomous robot for power distribution line maintenance tasks to ensure worker's safety and to improve efficiency. In order to perform autonomously maintenance tasks, it is necessary for the robot to measure the relative position of the robot and the work object. The purpose of this research is to construct 3D models of the work environments such as utility poles, cross arms,...
We are developing an autonomous robot for power distribution line maintenances. The robot autonomously carries out the maintenance tasks by task-level instructions, for example “Insert the bolt (Fig.1)” or “Clench the nut”. This paper describes program descriptions and a program execution framework for the robot to carry out the tasks by the task-level instructions.
We are developing an autonomous robot system for the power distribution line maintenance tasks. The robot autonomously performs the tasks by task level instructions, for example, “grip the bolt”. We aim to make up a fully-closed visual feedback control system to align the gripper tip to the bolt head in the images of two cameras. By the visual feedback control system, the alignment is immune to camera...
We are developing a semi-autonomous power distribution line maintenance robot that operates by task level instructions. Also, we are conducting a feasibility study on CG-simulator [2] and experimental robot system [3] with task analysis [1]. We propose the task skill for inserting the bolt into the bolt hole in “Inserting the bolt into the bolt hole on arm tie” task. The task skill describes the bolt's...
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