Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs

Chang Yeob Shin; Jangho Bae; Daehie Hong

doi:10.1109/ICCAS.2015.7364817

Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs

Chang Yeob Shin, Jangho Bae, Daehie Hong

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (Scopus)

Abstract

In these days, most of construction workers become aging and tasks have been complicated as construction technology developed. To supplement this trend, many of attempts have been done to automate construction process and replace roles of workers in dangerous situations. Also, diverse methods have been tried to help workers for efficiency enhancement. This paper deals with supernumerary robotic limbs for helping ceiling work near the worker. Supernumerary robotic limbs can alternate simple tasks like holding objects at ceiling. To optimize the structure, work scenario is determined and hardware is constructed based on the scenario. Wearable shoulder mount is designed not to obstruct movement of worker and its structure is described. Manipulator links length are selected by considering workspace and its procedure is shown. The control algorithm pursing cooperation with worker is represented.

Original language	English
Title of host publication	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1228-1230
Number of pages	3
ISBN (Electronic)	9788993215090
DOIs	https://doi.org/10.1109/ICCAS.2015.7364817
Publication status	Published - 2015 Dec 23
Event	15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 2015 Oct 13 → 2015 Oct 16

Publication series

Name	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Other

Other	15th International Conference on Control, Automation and Systems, ICCAS 2015
Country/Territory	Korea, Republic of
City	Busan
Period	15/10/13 → 15/10/16

Bibliographical note

Funding Information:
This work was supported by the Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning(KETEP) grant financial resource from the Ministry of Trade, Industry and Energy, Republic of Korea. (No. 20144010200770) and Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education(NRF -20 13R I A 1 A2059192).

Keywords

Ceiling work
Human robot cooperation
Supernumerary robotic limbs
Wearable robot

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ICCAS.2015.7364817

Cite this

Shin, C. Y., Bae, J., & Hong, D. (2015). Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1228-1230). Article 7364817 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364817

Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. / Shin, Chang Yeob; Bae, Jangho; Hong, Daehie.
ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1228-1230 7364817 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shin, CY, Bae, J & Hong, D 2015, Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. in ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings., 7364817, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1228-1230, 15th International Conference on Control, Automation and Systems, ICCAS 2015, Busan, Korea, Republic of, 15/10/13. https://doi.org/10.1109/ICCAS.2015.7364817

Shin CY, Bae J, Hong D. Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1228-1230. 7364817. (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). doi: 10.1109/ICCAS.2015.7364817

Shin, Chang Yeob ; Bae, Jangho ; Hong, Daehie. / Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs. ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1228-1230 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

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Ceiling work scenario based hardware design and control algorithm of supernumerary robotic limbs

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

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