IEEE Robotics & Automation Magazine - June 2018 - 86

Cooperative Task Automation
Replacing on-site workers with fully autonomous robots is
not affordable with current technologies due to the challenges
of developing robotic capabilities that evaluate and correct a
robot's work in real time. However, the productivity of many
construction tasks could be significantly leveraged through
human and robot cooperation.
We propose combining the benefits of automation with
the deployment of Pictobot and human skill/ingenuity for the
interior finishing of industrial developments to minimize
the tiresome part of this type of work while maximizing the
spraying efficiency and coat quality.

Figure 3. Route planning and execution by a human operator.

PL

Rws
π
d
D

Figure 4. An HRC for interior finishing.

86

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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june 2018

Considering a space with high walls, we could reduce the
functional painting area to several vertical strips with certain
widths and lengthy heights from the ceiling to the floor, in
which each vertical section comprises multiple rectangle patches at different heights (Figure 4). The Pictobot is designed to
autonomously spray paint one vertical area from top-to-bottom
through a combined motion of a 6-DoF manipulator and a
1-DoF jack-up mechanism. The 3-DoF mobile base is then
teleoperated (Figure 3) to the next working station in stepped
courses. A mobile base motion requires a rapid movement with
low precision, while a spray-painting task needs precise robotic
arm motions with relatively slow speeds to provide a proper
paint thickness. Accordingly, the allocation of tasks between the
operator and the robot are as follows.
● The human operator is primarily responsible for setting
painting requirements, e.g., selecting a proper spray nozzle,
or paint type, or adjusting parameters such as spraying
pressure or paint thickness on the user-defined finishing
needs. This preparation is a one-time setting of parameters,
and the values are selected from a predefined library for
different paints and specifications; however, the operator
must have a basic knowledge of spraying to verify the output quality as well as to take care of fine-tuning the pressure or refilling the system during the robot operation. For
instance, sprayer tail, i.e., paint that is not being evenly
atomized at the edges of pattern, might occasionally happen when initializing the system if there is any dirt inside
the nozzle or the pressure is less than optimal.
● The operator also teleoperates the navigation of Pictobot
between adjacent workstations to cope with a changing work
environment (Figure 3) with the help of visual and data feedback as seen in Figure 2(c). This method enables the benefits
from a human's perception and cognition to reduce complex
working environments to smaller, less-complicated workstations, while the operator also has the safety and convenience
of joystick teleoperation of the robot. The robot must be
moved along a wall in stepped courses with displacements
less than the maximum allowable painting length, which is
noted as PL and expressed in (1). Thus, the worker's judgment and perception become the upper robot planner, while
the robot will autonomously adjust the plane-to-plane spraygun position and painting plans from various deployed positions using the sensor-driven method.
● The Pictobot works safely when close to workers performing
repetitive painting processes independently at high elevations, relieving human workers of tiresome tasks and much
of the climbing, bending, kneeling, and reaching associated
with this type of work. Pictobot is outfitted with a sensordriven spray-painting solution, in which the steps include in
situ scene reconstruction and 3-D layout understanding,
automated height control of the jack-up mechanism, and
coverage spray-gun arm motion planning and execution.
● The workforce could also help with painting walls at low
heights or finishing details close to the edges of windows or
doors simultaneously, with the robot performing work on
high walls.



IEEE Robotics & Automation Magazine - June 2018

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