Title :
Development of a semi-autonomous remote maintenance robot
Author :
Hibino, Akihiro ; Kawai, Tatsuya ; Nako, Mikio ; He, Yingxin ; Aoyama, Kazuki ; Iwata, Yuta ; Isogai, Taisuke ; Takeuchi, Shinchi ; Tatsuno, Kyoichi
Author_Institution :
Meijo Univ., Nagoya, Japan
Abstract :
We are developing a prototype of semi-autonomous remote maintenance robot which is for example used in a nuclear power plant. The image of the robot is shown in Fig.1. The robot is constructed of arms, mobile base and vision system. The robot is operated with task level instructions. Foe example, when we direct ¿Insert the bolt¿, the robot search the instruction file in which the move sequences are described, and then the task is performed by moving the mobile base and arms.
Keywords :
industrial manipulators; maintenance engineering; nuclear power stations; robot vision; service robots; stereo image processing; nuclear power plant; semiautonomous remote maintenance robot; task level instructions; Robots;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2009. MHS 2009. International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-5094-7
Electronic_ISBN :
978-1-4244-5095-4
DOI :
10.1109/MHS.2009.5352006
