Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Teleoperation of Construction Machines with Haptic Information for Underwater Applications

Junichi Akizono, Taketsugu Hirabayashi, Takashi Yamamoto, Hiroshi Sakai, Hiroaki Yano, Masaki Iwasaki

Mechanization is necessary for safer and more efficient underwater construction work in port areas. Teleoperated underwater construction machines are under developing. The problem is that conventional TV camera system is useless in water because of turbidity. Haptic information is introduced as the aid to control construction machines substituting for visual information. Components of control technologies are visualization of haptic image, force feedback, and similar figure controller. Leveling experiment of gravel mound was carried out successfully on land with an experimental land model of underwater backhoe.

Keywords: Underwater Construction Machine, Visualization of Haptic Image, Force Feedback, Similar Figure Controller, Leveling Experiment