1P1-L03 Automated Construction System of Robot Locomotion and Operation Platform for Hazardous Environments : Development of Module Transferring and Connecting Motions(Robotics and Mechatronics in Construction and Demolition)

Abstract

Unmanned robot operation is highly expected in a hazardous environment such as a nuclear accident cite. We propose an automated construction system of robot locomotion and operation platform in a seriously disturbed environment where utilizable sensors and actuators is restricted. Its purpose is to make specialized working robots reach at any points. Each structure for locomotion and operation is modularized, and constructed by cooperation of a transfer robot and a constructor robot. This paper describes development of prototypes and experiments to verify the feasibility of module-transferring and connection motions in typical three positions. The feature of the developed robots is that they use guide structures to reduce the effects of mechanical error and misalignment between robots.