A Human-Robot Interaction Dual-Arm Robot System For Power Distribution Network

The current live-line maintenance robot in the power distribution network faces a significant challenge. The commonly used operational methods have their limitations. Teleoperation heavily relies on the operator's experience and manual intervention, which places a burden on the operator. Autono...

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Bibliographic Details
Main Authors: He, Haiyang, Li, Yanghong, Chen, Jian, Guo, Yajuan, Bi, Xiaotian, Dong, Erbao
Format: Conference Proceeding
Language:English
Subjects:
dual-arm robot
Human in the loop
Human-robot interaction
Maintenance engineering
Operating systems
Performance evaluation
power distribution network
Robot sensing systems
Wires
Online Access:Request full text
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Summary:The current live-line maintenance robot in the power distribution network faces a significant challenge. The commonly used operational methods have their limitations. Teleoperation heavily relies on the operator's experience and manual intervention, which places a burden on the operator. Autonomous operation requires a high level of intelligence from the robot, which is currently insufficient to handle the complexities of the power grid environment. To address the challenge, this paper proposes a human-robot interaction (HRI) dual-arm robot system. This system includes a human-in-the-loop operational framework, where human operators handle tasks that are difficult to automate using HRI devices. The robot's autonomous operations are guided by a standard trajectory library constructed using Dynamic Movement Primitives (DMP). Several experiments were conducted to validate the feasibility of the proposed robot system.
ISSN:2688-0938
DOI:10.1109/CAC59555.2023.10450907