Development of a Remotely Controlled Semi-Underwater Heavy Carrier Robot for Unmanned Construction Works

抄録

We have been developing the crawler dump type heavy carrier robot since 2014. This robot can effectively travel a distance of a few hundred meters both on land and in shallow water. Through the use of a remote control, the robot can carry out unmanned construction in cases of flooding and waterside disasters. This paper reports part of the results obtained during development. Specifically, we report ① the consideration on a scenario for construction during an emergency by using remotely controlled heavy machinery under flooding conditions; ② the testing and findings of the first heavy carrier robot prototype with regard to water resistance and travelling performance; ③ the method of operation guidance based on the display of estimated ego-position to control the traveling of heavy machinery remotely and the results of experiments.