Task performance test on power distribution line maintenance robot system -Remove insulator

We are developing a semi-autonomous robot system for a power distribution line maintenance tasks and making task performance tests. If you execute a task for example “inserting bolt”, the robot system works autonomously. When we direct “Remove insulator”, in the vision system detects an insulator using a camera image, and then the robot arm approaches the insulator. This camera is fixed at end effector of the robot arm and at vehicle. When the size of the insulator image is larger than threshold size, it finishes approaching. After that, the gripper on the top of the arm holds the insulator and removes it. We used a detection method with Haar-like feature, and Adaboost learning algorithm.