Task performance tests on inserting the bolts by an experimental system for power distribution line maintenance - grope action under compliance control

We are developing semi-autonomous robot system for power distribution line maintenance tasks to ensure worker\´s safety and improve efficiency of task performance. This robot system works with task level instructions, for example, "Insert the bolt". In this paper, we describe a task performance test on "Insert the bolt" in arm-tie exchange task in installing switch gear. When human gives the task instruction "Insert the bolt", the robot system 1) grasps the bolt with gripper, 2) recognizes the bolt hole using camera and laser range finder, 3) approaches the bolt hole, 4) gropes along the bolt hole with the bolt under compliance control, and insert the bolt to the bolt hole.