Human-Robot Interaction System Research for 500kV EHV Power Transmission Line Inspection Robot

被引：1
|
作者：
Guo, Weibin [1 ]
Wang, Hongguang [1 ]
Sun, Peng [1 ]
Ling, Lie [1 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
来源：
MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2 | 2012年 / 2-3卷
关键词：
Power line inspection robot; Tele-robotics; Human-Robot Interaction; software design;
D O I：
10.4028/www.scientific.net/AEF.2-3.427
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An assisted and secure interaction system is developed for 500kV EHV Power Transmission Line Inspection Robot. The challenges on amenity, assistance and security of interactive operation are emphasized. Due to the unpredictable line structure and the incomplete sensory, the robot is controlled in remote and locally autonomous mode. Based on the Finite State Machine (FSM), the automatic crossing interface is designed for protecting operators from memorizing redundancy sequences. Measures for friendly operating and avoiding errors are concerned. The architectures for fully autonomous are also engaged. The lab and field experiments validated the interaction system reliable and easy to use.
引用
收藏
页码：427 / 432
页数：6
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