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Remote control of backhoe for rescue activities using pneumatic robot system

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3 Author(s)
Sasaki, T. ; Interdisciplinary Graduate Sch. of Sci. & Eng., Tokyo Inst. of Technol. ; Nagai, T. ; Kawashima, K.

In this paper, we describe the development of master-slave pneumatic robotic system and its ability to remotely control some functional tasks of backhoe machines during operation on construction sites. The functional tasks include (i) excavating (loading), (ii) lifting, (iii) transporting loads, and (iv) unloading. Pneumatic actuators and grippers, CCD cameras and a control box containing power source, PC and wireless LAN boards are integral part of our pneumatic robot system. During operation, images from the CCD cameras are transported to the master side with a wireless LAN, and then display visually on the laptop PC. Using joysticks, an operator can manipulate the synchronized activities of the system and backhoe machines with or without the CCD cameras. Tests were conducted on some local construction sites to evaluate the effectiveness of the system to control the functional tasks of the backhoe machines. It was found that the use of CCD cameras by the operator to monitor the synchronized activities was more effective than having a direct face to face operator contact with the activities. Disasters caused by environmental changes and man-made actions are increasing worldwide. The safety for rescued workers and investigative officials in disaster areas is a growing concern. Our system provides an opportunity to improve safety

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006