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
N1 - Funding Information:
This work was supported by the Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning(KETEP) grant financial resource from the Ministry of Trade, Industry and Energy, Republic of Korea. (No. 20144010200770) and Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education(NRF -20 13R I A 1 A2059192).
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
T3 - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
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.
T2 - 15th International Conference on Control, Automation and Systems, ICCAS 2015
Y2 - 13 October 2015 through 16 October 2015
ER -