Yorihiko Tanaka

An experimental robot system for power distribution line maintenance robots - System architecture and bolt insertion experiment -

We are developing a conceptual design for a power distribution line maintenance robot system using a CG (computer graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system that performs tasks using task-level instructions. An operator directs the tasks, for example inserting a bolt into a hole, and clicks the work objects ldquoBoltrdquo and ldquoHolerdquo in the picture on the display with a mouse.

Conceptual Design of a Power Distribution Line Maintenance Robot Using a Developed CG Simulator and Experimental Robot System

We have been developing a conceptual design for a power distribution line maintenance robot system using a CG (Computer Graphics) simulator and an experimental robot system. This system is a semi-autonomous robot system which performs - tasks with task level instructions. We developed the design while during construction of the CG simulator. We believe that we demonstrate a possible solution to working up a semi-autonomous robot system.

Vision for a Power Distribution Line Maintenance Robot -Environments Input

This paper describes a vision system for a power distribution line maintenance robot. The robot will perform a task, for example, a switch gear installation task automatically. To perform the task, 3D model of work environments are constructed in a computer. Target positions for robot commands are generated using the work environment 3D model. We investigated three methods to superimpose 3D frame models of working environment parts on the photographs: 1) Manually superimposing method by a mouth, 2) Manually pointing method, and 3) Automatically superimposing method.