Toward Autonomous Robots for Demolitions in Unstructured Environments

Abstract

The construction industry is a capital-intensive sector that is steadily turning towards mechanized and automated solutions in the last few decades. However, due to some specificities of this field, it is still technologically behind other sectors, such as manufacturing. Robotic technologies provide room for improvements, that could lead to economical, technical, and also social benefits. We present a possible conceptual framework for an autonomous robot for indoor demolitions, featuring enhanced perceptual capabilities, situational awareness, as well as intuitive Human-Robot Interaction (HRI) paradigms. The paper deals with several aspects of the demolition task, ranging from perception, to planning, to HRI. With respect to perception, we focus on the design and development of some of the perceptual capabilities needed for such robots, as essential to support autonomy, safety, and situational awareness in unstructured construction sites. Particularly, we propose a novel segmentation algorithm that allows the robot to work in highly unstructured scenarios, as well as a mechanism for detecting and quantifying spatial changes during the task. As far as HRI is concerned, a novel interaction paradigm based on laser designation is proposed. Proposed concepts were implemented and tested on a real, scaled-down, controlled mock-up that, while simplifying some aspects of the task, is able to mimic some general characteristics of a real demolition scenario. From lessons learned in this controlled environment we point out some requirements and foreseen issues in facing the complexity of a real demolition set-up.

Inverse calculation of demolition robot based on gravitational search algorithm and differential evolution neural network

“…The inertial mass M i t ð Þ of each particle is calculated based on the individual fitness, as shown in equations (7) and (8). The larger the particle mass is, the better the solution is.…”

“…For example, Derlukiewicz et al 5 and Derlukiewicz 6 designed an advanced humane machine interface to implement in remote-controlled robots for demolition works in order to avoid failures resulting from robot misuse. Corucci and Ruffaldi 7 carried out the research works of robot environment perception, task planning, and human–robot interaction paradigms for the indoor demolition robot.…”

The Impact of Motion Scaling and Haptic Guidance on Operators’ Workload and Performance in Teleoperation

“…nuclear waste decommissioning [23], (2) workspaces that are too small/invasive for a human to operate in, as per micro/minimally-invasive surgery [20], or (3) the load to be manipulated can be too heavy for the human operator to cope (e.g. demolition tasks [4]). However, conservative industries require a human operator to fully or partially control the robot movements in safety-critical, high-consequence environments (e.g.…”

Research on the Trajectory Planning of Demolition Robot Attachment Changing

“…Compared with traditional construction machinery, the output torque of the demolition robot is larger and the operation ability is stronger. A demolition robot can enter and work in high-risk environments that are too dangerous for humans to enter, which broadens the application scope of the demolition robot and improves the dismantling operation efficiency [4][5][6][7]. In the field of demolition robots, BROKK from Sweden is one of the world's leading manufacturers and has developed more than 15 types of demolition robots [8].…”