An object grasp motion model using control signal and cylinder pressure in demolition machines for disaster response work

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack visual and tactile sensors, so practically available lever operation and cylinder pressure sensors are adopted. The grasp motion is modeled by using sequential transitions of the on-off state of the control signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion effectively identifies a grasp or non-grasp with high accuracy, independently of operators and environments.

Original languageEnglish
Pages307-312
Number of pages6
Publication statusPublished - 2013 Jan 1
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Conference

Conference2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

Keywords

  • Construction machinery
  • Grasp motion model
  • Requisite condition
  • State identification

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'An object grasp motion model using control signal and cylinder pressure in demolition machines for disaster response work'. Together they form a unique fingerprint.

  • Cite this

    Kamezaki, M., Iwata, H., & Sugano, S. (2013). An object grasp motion model using control signal and cylinder pressure in demolition machines for disaster response work. 307-312. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.