Masatoshi Hatano

Construction Robot Systems Using Mobile Manipulators - Piling up Blocks with Real Systems and Positioning Accuracy

This research is concerned with a construction robot system that uses a mobile manipulator in order to make a large fence made up of concrete blocks. One of problems in making such a fence by a mobile manipulator is the existence of stacking errors caused by traveling errors under nonholonomic constraints. In the present paper, we propose a basic construction robot system that uses a mobile manipulator equipped with a system of compensating for stacking errors by detecting traveling errors using landmarks and a hand-eye camera. In addition, the systems accuracy in positioning the blocks is evaluated through experiments with a prototype of experimental equipment.