Task planning experiment toward an autonomous robot system for the construction of overhead distribution lines

As an initial stage in the realization of an autonomous robot system for the construction of overhead distribution lines, we have developed an experimental setup with a task planner to install a power switchgear model on a mock-up utility pole. When an operator inputs a task level command of a standard installation task to the system, the task planner generates robot control commands to perform the desired task automatically by referring to the environment and the task knowledge database. The robot then moves and executes the specified task according to the control commands that have been generated. We have verified in the experimental setup that, using the developed task planner a number of typical task for installation of the power switchgear model can be performed smoothly with a small amount of assistance from the operator