This work presents a novel vision-force based interface; allowing a local operator to visually specify a path constraint to a remote robot manipulator. By using our interface the operator is able to control a 7-DOF arm with only 2-DOF. Our interface aims to reduce task complexity and operator cognitive load. We illustrate our approach with 2 mock-up examples: 1) Closing a steam valve, 2) Gluing...

This paper presents a topological-metric approach to navigation for mobile mini robots (MMRs). Motivated by future applications of MMRs like remote inspection tasks in small pipe systems, we investigate narrow, labyrinth-like environments (corridors width of 3 cm). Experiments in navigation tasks like local localization, global localization and map-building are carried out with our autonomous r...

This paper describes the design, experiments, and quantitative force comparison of a Pipe Inspection RObot named PI-RO II using enhanced linear antagonistic mechanism to amplify traction. study aims develop an inspection robot for long, narrow, complex pipes requiring large traction, propulsion, flexibility. Many types pipe soft pneumatic actuators were proposed in conventional studies, focusin...

In Japan, as the number of sewerage management facilities increases, continuous maintenance drainage pipes and sewage is considered important. However, it grinding for operators to perform expansive in-pipe inspection. Therefore, in recent years, inspections using stand-alone type piping inspection robots have been actively used. Inside pipe, there are disturbances such unevenness, sludge, or d...

PIPE i s a pipelid image processing device that was designed for real-time robot vision appl i cat i ons. I t accepts images from a video camera 60 times per second. and contains hardwarr for digitizing. displaying, and performing optrations on thcse images at video rates. Each stage of the pipeline contai ns arithmetic and logic uni ts, convolvers, image buffers, md look-up tables. The purpose...