Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs

Chang Yeob Shin, Jangho Bae, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1228-1230
Number of pages3
ISBN (Print)9788993215090
DOIs
Publication statusPublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

Keywords

  • Ceiling work
  • Human robot cooperation
  • Supernumerary robotic limbs
  • Wearable robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Shin, C. Y., Bae, J., & Hong, D. (2015). Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1228-1230). [7364817] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364817