2013 Fiscal Year Final Research Report
Efficiency and Safety Improvement Based on Semi-Autonomous Operation Support for Dual-Arm Construction Work
| Project/Area Number |
24760215
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Waseda University |
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Principal Investigator |
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Keywords | 知能化インタフェース / 操作支援 / 状態識別 / 負荷計測 / 建設機械 |
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| Research Abstract |
In this study, an operator support system, which provides an operator with cognitive and operational support for achieving more complex tasks such as disaster rescue and recovery work using construction machinery, was developed. In particular, this study focuses on cooperative transport and object removal task using two manipulators with a grapple. This study aims at enabling any operators to work more safely and efficiently. The propose operator support system provides suitable support (gain switching, in this study) to an operator, according to the needs of support, which are determined by using the task phase and specific condition identification methods. The results of experiments conducted using a instrumented actual machine system indicate that the number of error contacts, internal force applied, and mental workload decreased without increasing time consumption. This result confirmed that the proposed framework greatly improves the work performance of individual operators.
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[Remarks] Lecture,Mitsuhiro Kamezaki, Intelligent Human-Machine Interface, Research Seminar in Department of Mechatronics and Robotics, School of Innovation Design, Egypt-Japan University of Science and Engineering (E-Just), Alexandria, Egypt, Dec. 2012
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[Remarks] Webサイト,「菅野先生、亀崎先生、坂本 先生(早稲田大学)のE-JUST訪問」,独立行政法人 国際協力機構(JICA),2012年12月7日
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[Remarks] The SICE Annual Conference Young Author's Award Finalists in SICE Annual Conference 2013, Sept. 2013
