Development of a semi-autonomous remote maintenance robot

Abstract

We are developing a proto-type of semi-autonomous remote maintenance robot which is for example used in a nuclear power plant. The image of the robot is shown in Fig.1. The robot is constructed of arms, mobile base and vision system. The robot is operated with task level instructions. Foe example, when we direct “Insert the bolt”, the robot search the instruction file in which the move sequences are described, and then the task is performed by moving the mobile base and arms.