Construction inspection &amp; monitoring with quadruped robots in future human-robot teaming: A preliminary study

Halder, Srijeet; Afsari, Kereshmeh; Chiou, Erin K.; Patrick, Rafael; Hamed, Kaveh Akbari

doi:10.1016/j.jobe.2022.105814

Cited by 29 publications

(4 citation statements)

References 48 publications

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“…For example, UAVs cannot work in inclement weather conditions (e.g., strong wind, rain) [ 46 , 105 , 112 , 138 ], and in some remote areas, UAVs must operate manually. In addition, robotic inspection systems require considerable costs for purchase, installation, training, and data processing [ 9 , 139 , 140 , 141 , 142 ]. Robots may also struggle in unexpected situations to interpret and comprehend the broad context of a construction project, such as timelines, construction plans, and customer requirements.…”

Section: Resultsmentioning

confidence: 99%

Content Analysis of Three-Dimensional Model Technologies and Applications for Construction: Current Trends and Future Directions

Le,

Tran,

Sturgill

2024

Sensors

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The proliferation of digital technologies is substantially transforming inspection methodologies for construction activities. Although the implementation of a three-dimensional (3D) model has emerged as an advantageous, feasible inspection application, the selection of the most suitable 3D models is challenging due to multiple technology options. The primary objectives of this study were to investigate current trends and identify future technologies for 3D models in the construction industry. This study utilized systematic reviews by identifying and selecting quality journals, analyzing selected articles, and conducting content analysis and meta-analysis to identify dominant themes in 3D models. Results showed that the top technologies used to model construction projects are building information models, remote sensing, stereo vision system/photo processing programs, and augmented reality/virtual reality. The main benefits and challenges of these technologies for modeling were also determined. This study identified three areas with significant knowledge gaps for future research: (1) the amalgamation of two or more technologies to overcome project obstacles; (2) solution optimization for inspections in remote areas; and (3) the development of algorithm-based technologies. This research contributes to the body of knowledge by exploring current trends and future directions of 3D model technologies in the construction industry.

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Section: Resultsmentioning

confidence: 99%

Content Analysis of Three-Dimensional Model Technologies and Applications for Construction: Current Trends and Future Directions

Le,

Tran,

Sturgill

2024

Sensors

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“…Human–robot interactions have been one of the most studied fields in robotics during the last decade, having great technological developments in areas such as the teleoperation of machines, which has allowed humankind to reach places and perform tasks that were previously considered impossible in a comfortable and safe way [ 1 , 2 , 3 ]. In addition, with the introduction of assistive humanoid robots to the market, a new spectrum for teleoperation has been generated, having a great focus on this type of machine, as they can have great potential in educational or even therapeutic fields [ 4 , 5 , 6 , 7 , 8 , 9 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Multi-Modal Teleoperation of a Humanoid Assistive Robot with Real-Time Motion Mimic

et al. 2023

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This research shows the development of a teleoperation system with an assistive robot (NAO) through a Kinect V2 sensor, a set of Meta Quest virtual reality glasses, and Nintendo Switch controllers (Joycons), with the use of the Robot Operating System (ROS) framework to implement the communication between devices. In this paper, two interchangeable operating models are proposed. An exclusive controller is used to control the robot’s movement to perform assignments that require long-distance travel. Another teleoperation protocol uses the skeleton joints information readings by the Kinect sensor, the orientation of the Meta Quest, and the button press and thumbstick movements of the Joycons to control the arm joints and head of the assistive robot, and its movement in a limited area. They give image feedback to the operator in the VR glasses in a first-person perspective and retrieve the user’s voice to be spoken by the assistive robot. Results are promising and can be used for educational and therapeutic purposes.

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“…Compared with wheeled robots, legged robots have better mobility in high-risk and unstructured environments such as mountain reconnaissance [1], industrial inspection and search and rescue [2], construction inspection and monitoring [3], and underground cave exploration [4], but their running speed on flat roads is limited, and the energy consumption is significant. After comprehensively considering the advantages of wheeled robots [5,6] and legged robots, mobile robot researchers worldwide have designed a new type of wheel-legged robot that combines fast wheeled driving and flexible leg walking functions [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Mechanism design and dynamic switching modal control of the wheel-legged separation quadruped robot

Cao,

Zhang,

Wang

et al. 2023

Robotica

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Currently, most wheel-legged robots need to complete the switching of the wheel-and-leg modal in a stationary state, and the existing algorithms of statically switching the wheel-leg modal cannot meet the control requirements of multimodal switching dynamically for robots. In this paper, to achieve efficient switching of the wheel-and-leg modal for a quadruped robot, the novel transformable mechanism is designed. Then, a multimodal coordination operation control framework based on multiple algorithms is presented, incorporating the minimum foot force distribution method (algorithm No.1), the minimum joint torque distribution method (algorithm No.2), and the method of combining the single rigid body dynamic model with quadratic programming (algorithm No.3). In the process of switching wheel-leg modal dynamically, the existing algorithm No.3 is prone to produce the wrong optimal force due to the change of the whole-body rotational inertia. Therefore, an improved algorithm No.1 and algorithm No.2 are proposed, which do not consider the change in the body’s inertia. The control effects of the three algorithms are compared and analyzed by simulation. The results show that algorithm No.3 can maintain a small error in attitude angle and speed tracking regardless of whether the robot is under multilegged support or omnidirectional walking compared to the other two algorithms. However, proposed algorithms No.1 and No.2 can more accurately track the target speed when the robot is walking with wheels raising and falling. Finally, a multi-algorithm combination control scheme formulated based on the above control effects has been demonstrated to be effective for the dynamic switching of the wheel-and-leg modal.

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Construction inspection & monitoring with quadruped robots in future human-robot teaming: A preliminary study

Cited by 29 publications

References 48 publications

Content Analysis of Three-Dimensional Model Technologies and Applications for Construction: Current Trends and Future Directions

Content Analysis of Three-Dimensional Model Technologies and Applications for Construction: Current Trends and Future Directions

A Novel Multi-Modal Teleoperation of a Humanoid Assistive Robot with Real-Time Motion Mimic

Mechanism design and dynamic switching modal control of the wheel-legged separation quadruped robot

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