Abstract
In these days, most of construction workers become aging and tasks have been complicated as construction technology developed. To supplement this trend, many of attempts have been done to automate construction process and replace roles of workers in dangerous situations. Also, diverse methods have been tried to help workers for efficiency enhancement. This paper deals with supernumerary robotic limbs for helping ceiling work near the worker. Supernumerary robotic limbs can alternate simple tasks like holding objects at ceiling. To optimize the structure, work scenario is determined and hardware is constructed based on the scenario. Wearable shoulder mount is designed not to obstruct movement of worker and its structure is described. Manipulator links length are selected by considering workspace and its procedure is shown. The control algorithm pursing cooperation with worker is represented.
| Original language | English |
|---|---|
| Title of host publication | ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1228-1230 |
| Number of pages | 3 |
| ISBN (Print) | 9788993215090 |
| DOIs | |
| Publication status | Published - 2015 Dec 23 |
| Event | 15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 2015 Oct 13 → 2015 Oct 16 |
Other
| Other | 15th International Conference on Control, Automation and Systems, ICCAS 2015 |
|---|---|
| Country | Korea, Republic of |
| City | Busan |
| Period | 15/10/13 → 15/10/16 |
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Keywords
- Ceiling work
- Human robot cooperation
- Supernumerary robotic limbs
- Wearable robot
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. / Shin, Chang Yeob; Bae, Jangho; Hong, Daehie.
ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1228-1230 7364817.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs
AU - Shin, Chang Yeob
AU - Bae, Jangho
AU - Hong, Daehie
PY - 2015/12/23
Y1 - 2015/12/23
N2 - In these days, most of construction workers become aging and tasks have been complicated as construction technology developed. To supplement this trend, many of attempts have been done to automate construction process and replace roles of workers in dangerous situations. Also, diverse methods have been tried to help workers for efficiency enhancement. This paper deals with supernumerary robotic limbs for helping ceiling work near the worker. Supernumerary robotic limbs can alternate simple tasks like holding objects at ceiling. To optimize the structure, work scenario is determined and hardware is constructed based on the scenario. Wearable shoulder mount is designed not to obstruct movement of worker and its structure is described. Manipulator links length are selected by considering workspace and its procedure is shown. The control algorithm pursing cooperation with worker is represented.
AB - In these days, most of construction workers become aging and tasks have been complicated as construction technology developed. To supplement this trend, many of attempts have been done to automate construction process and replace roles of workers in dangerous situations. Also, diverse methods have been tried to help workers for efficiency enhancement. This paper deals with supernumerary robotic limbs for helping ceiling work near the worker. Supernumerary robotic limbs can alternate simple tasks like holding objects at ceiling. To optimize the structure, work scenario is determined and hardware is constructed based on the scenario. Wearable shoulder mount is designed not to obstruct movement of worker and its structure is described. Manipulator links length are selected by considering workspace and its procedure is shown. The control algorithm pursing cooperation with worker is represented.
KW - Ceiling work
KW - Human robot cooperation
KW - Supernumerary robotic limbs
KW - Wearable robot
UR - http://www.scopus.com/inward/record.url?scp=84966350717&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84966350717&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2015.7364817
DO - 10.1109/ICCAS.2015.7364817
M3 - Conference contribution
AN - SCOPUS:84966350717
SN - 9788993215090
SP - 1228
EP - 1230
BT - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -