Putty Plastering Realized by a Force Controlled Robotic Scraper

Zhao Liu; Dayuan Chen; Xin Jiang; Yunhui Liu

doi:10.1109/ROBIO54168.2021.9739274

Putty Plastering Realized by a Force Controlled Robotic Scraper

Zhao Liu
, Dayuan Chen
, Xin Jiang^*
, Yunhui Liu

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Chinese University of Hong Kong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Research on construction robotics has attracted increasing attention as the rising labor costs become prominent. Compliance control, including impedance/admittance control, is considered as a classical approach for robotic manipulation tasks involving contact. In this paper, we propose a putty plastering strategy based on a force controlled scraper which is mounted at the end-effector of an interior finishing robot. In order to control the quality of putty plastering, we verified several strategy including active parameters adjustment of impedance control, active adjustment of scraper speed/tilt angle. The plastering experiments in a construction site proved that the proposed plastering strategy is effective. The evenness and coated putty thickness can meet the quality requirements.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1034-1039
Number of pages	6
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739274
State	Published - 2021
Externally published	Yes
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Hybrid, Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Hybrid, Sanya
Period	27/12/21 → 31/12/21

Access to Document

10.1109/ROBIO54168.2021.9739274

Cite this

Liu, Z., Chen, D., Jiang, X., & Liu, Y. (2021). Putty Plastering Realized by a Force Controlled Robotic Scraper. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 1034-1039). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739274

@inproceedings{88907746a3ed40a1bbae9b9f07fe5feb,

title = "Putty Plastering Realized by a Force Controlled Robotic Scraper",

abstract = "Research on construction robotics has attracted increasing attention as the rising labor costs become prominent. Compliance control, including impedance/admittance control, is considered as a classical approach for robotic manipulation tasks involving contact. In this paper, we propose a putty plastering strategy based on a force controlled scraper which is mounted at the end-effector of an interior finishing robot. In order to control the quality of putty plastering, we verified several strategy including active parameters adjustment of impedance control, active adjustment of scraper speed/tilt angle. The plastering experiments in a construction site proved that the proposed plastering strategy is effective. The evenness and coated putty thickness can meet the quality requirements.",

author = "Zhao Liu and Dayuan Chen and Xin Jiang and Yunhui Liu",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739274",

language = "英语",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1034--1039",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

address = "美国",

}

Liu, Z, Chen, D, Jiang, X & Liu, Y 2021, Putty Plastering Realized by a Force Controlled Robotic Scraper. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1034-1039, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Hybrid, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739274

Putty Plastering Realized by a Force Controlled Robotic Scraper. / Liu, Zhao; Chen, Dayuan; Jiang, Xin et al.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1034-1039 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Putty Plastering Realized by a Force Controlled Robotic Scraper

AU - Liu, Zhao

AU - Chen, Dayuan

AU - Jiang, Xin

AU - Liu, Yunhui

PY - 2021

Y1 - 2021

N2 - Research on construction robotics has attracted increasing attention as the rising labor costs become prominent. Compliance control, including impedance/admittance control, is considered as a classical approach for robotic manipulation tasks involving contact. In this paper, we propose a putty plastering strategy based on a force controlled scraper which is mounted at the end-effector of an interior finishing robot. In order to control the quality of putty plastering, we verified several strategy including active parameters adjustment of impedance control, active adjustment of scraper speed/tilt angle. The plastering experiments in a construction site proved that the proposed plastering strategy is effective. The evenness and coated putty thickness can meet the quality requirements.

AB - Research on construction robotics has attracted increasing attention as the rising labor costs become prominent. Compliance control, including impedance/admittance control, is considered as a classical approach for robotic manipulation tasks involving contact. In this paper, we propose a putty plastering strategy based on a force controlled scraper which is mounted at the end-effector of an interior finishing robot. In order to control the quality of putty plastering, we verified several strategy including active parameters adjustment of impedance control, active adjustment of scraper speed/tilt angle. The plastering experiments in a construction site proved that the proposed plastering strategy is effective. The evenness and coated putty thickness can meet the quality requirements.

UR - https://www.scopus.com/pages/publications/85128244274

U2 - 10.1109/ROBIO54168.2021.9739274

DO - 10.1109/ROBIO54168.2021.9739274

M3 - 会议稿件

AN - SCOPUS:85128244274

T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

SP - 1034

EP - 1039

BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Y2 - 27 December 2021 through 31 December 2021

ER -

Putty Plastering Realized by a Force Controlled Robotic Scraper

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this