Task planning experiment toward an autonomous robot system for the construction of overhead distribution lines

Masayuki Mukaida, Yasushi Tamura, Takashi Yoshimi, Yukio Asari, Hirokazu Sato

Research output: Contribution to conferencePaper

Abstract

As an initial stage in the realization of an autonomous robot system for the construction of overhead distribution lines, we have developed an experimental set-up with a task planner to install a power switchgear model on a mock-up utility pole. When an operator inputs a task level command of standard installation tasks to the system, the task planner generates robot control commands to perform a desired task automatically by referring to an environment and a task knowledge database. The robot then moves and executes the specified task according to the robot control commands that have been generated. We have verified in the experimental set-up that, using the developed task planner, a number of typical tasks for installation of the power switchgear model can be performed smoothly with a small amount of assistance from the operator.

Original languageEnglish
Pages448-455
Number of pages8
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Mukaida, M., Tamura, Y., Yoshimi, T., Asari, Y., & Sato, H. (1995). Task planning experiment toward an autonomous robot system for the construction of overhead distribution lines. 448-455. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .