Development for Teleoperation Underwater Grasping System in Unclear
A0047Makoto Utsumi Construction and Control Systems Department, Port and Airport Research Institute
A0048Taketsugu Hirabayashi Construction and Control Systems Department, Port and Airport Research Institute
A0049Muneo Yoshie Construction and Control Systems Department, Port and Airport research Institute
With redevelopment and restructure of harbor facilities, removing or
resetting structures and wave-dissipating blocks is necessary. These
works use mainly crane with slinging by a diver. Accident in this
work field is a matter of life and death. For this reason, it is
necessary that a grove and attachment of underwater backhoe type
teleoperation grasping system is introduced corresponding to various
size blocks or structures. On the ground, it is able to use a video
or eyes vision for teleoperation. However, in underwater, muddiness
caused by raising earth and sand disturbs vision. It is difficult to
recognize the shape and the center of gravity (COG) of a structure.
The efficiency of a grasping operation in water deteriorates.
Therefore, it is considered that the augmented reality (AR) method is
applied to the grasping system. In AR method of this research, plural
information that is extended or processed compensate for lack of
visual information. For this compensation, reaction force and tactile
sense is selected and force feedback bilateral control master-slave
system is constructed. The slave hand (grasper) traces a movement of
the master hand (controller), and does feedback reaction-forces that
act at finger to an operator through the master hand. Reaction-forces
and tactile sense give the operator a feeling of grasping.
Furthermore, utilize these forces for visualization of haptic image.
When fingers of the hand touch a structure, a polygon at the touched
point is drawn on the display. This polygon is called "haptic image
object ". Using this "haptic image object ", the operator can
understand the shape and COG of the structure easily. It became clear
that the visualization of haptic image is effective for the grasping
operation in poor vision by examinee experiments in a computer
simulation. And we developed a master-slave hand models for a next
step experiment. In this paper we present AR method and a validity of
this teleoperation system in underwater. This teleoperation method
benefits teleoperation technology in underwater.