IEEE Robotics & Automation Magazine - September 2018 - 18
accuracy is 11 mm. When the distance between the sensor
and the surfaces increases, the accuracy drops (± 30 mm for
0.1-10 m as reported in the laser sensor specifications). As
can be seen in the images, the measurements are precise
enough, within 6 mm, to allow the engineers and architects to
assess the severity of the cracks and hence complete the estimation of the building state.
Manipulation Tasks
The robot manipulation capabilities were fundamental during indoor operations to get access to the inspected rooms.
The robot opened two doors in the building: one door was
opened by pushing it and the other one by turning the handle and pulling it (Figure 9). Another manipulation task consisted in collecting relevant objects (Figure 10) to be
examined successively. All of the manipulation tasks took
place in teleoperation mode, using only visual feedback to
complete the corresponding task. The enhancement of the
teleoperation module by adding haptic feedback is currently
under study. In Figures 9 and 10, we report the six-axis
experimental force-torque data acquired during the manipulation tasks. A sequence of images during a remote manipulation task, from the operator and the robot point of view, is
reported in Figure 11.
End-User Feedback and Lessons Learned
During field tests, the WALK-MAN team cooperated with
the technical groups that usually supervise all activities.
On site, several experts from the Protezione Civile Città
Metropolitana di Firenze (three), the Red Cross (two), and
(b)
x
y
z
Forces (N)
40
20
0
-20
-40
-60
400
a
450
500
Time (s)
2
550
x
y
z
a
0
-2
400
450
500
Time (s)
(c)
550
60
40
20
0
-20
-40
600
x
y
z
b
0
600
Torques (N . m)
Torques (N . m)
Forces (N)
(a)
5
10
15
20
25
Time (s)
30
35
15
10
x
y
z
b
5
40
0
-5
0
5
10
15
20
25
Time (s)
(d)
30
35
40
Figure 9. The WALK-MAN point of view when opening two doors. One door is opened by (a) pushing and the other by (b) turning
the handle and pulling it. For the two cases of the (c) left and (d) right hand, the force-torque measurements are reported, where
interactions with the environment are clearly distinguishable from the graphs. The letters in the graphs identify the peak loads related
to the action of the corresponding photo.
18
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
september 2018
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
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