Bi-Lateral Manipulator for Construction Works

In this paper, we describe the bi-lateral manipulator for construction works, in which the large scale manipulartor with remote operation is needed. Though the experiments, it was verified that the bi-lateral master-slave manipulator enables sensitive force control, smooth positioning and easy operating. The availability for construction works has been verified by the applications for two works, troweling concrete in the tunnel, and erecting shield-segments.