A Human-Robot Interaction Dual-Arm Robot System For Power Distribution Network

The current live-line maintenance robot in the power distribution network faces a significant challenge. The commonly used operational methods have their limitations. Teleoperation heavily relies on the operator's experience and manual intervention, which places a burden on the operator. Autonomous operation requires a high level of intelligence from the robot, which is currently insufficient to handle the complexities of the power grid environment. To address the challenge, this paper proposes a human-robot interaction (HRI) dual-arm robot system. This system includes a human-in-the-loop operational framework, where human operators handle tasks that are difficult to automate using HRI devices. The robot's autonomous operations are guided by a standard trajectory library constructed using Dynamic Movement Primitives (DMP). Several experiments were conducted to validate the feasibility of the proposed robot system.