Masahiro Inagawa

The authors are working on a project titled "Collaborative AI Robot that Adapts to Various Environments and Innovates Infrastructure Construction" in the Moonshot-type R&D project. The target tasks in this project are "disaster response of blocked river channels" and "construction of lunar infrastructure". This paper introduces the research and development in this project of "Dynamic collaboration for multipleconstruction-robots," which are expected to contribute significantly to the realization of i-Construction.

We aim to work automation of gravel pile transportation by construction machinery. To automate civil engineering work with construction machinery, it is necessary to control by remote control. Retrofit kits are used to remotely control and automate traditional construction machinery. Retrofit kits are sold by domestic manufacturers. To autonomously control a retrofitted construction machine, it is necessary to make a detailed model, which is difficult. In this paper, we retrofitted the wheel loader and implemented a remote control system. we researched the control characteristics by collecting data on the retrofit kit mechanism and vehicle motion when controlling a retrofitted wheel loader.

We aim to automate construction work with small construction vehicles in an environment where GNSS and SLAM can not be estimated. We have previously studied a localization system that uses 3DLiDAR in the environment to estimate the position of a construction vehicle, but have not used it for control. Thus, we installed a lever control device for a small crawler dump truck and conducted a field experiment using the actual vehicle for path following control. The results showed that it was possible to control the crawler dump with an error of less than approximately 0.1 m from the target path.

This paper proposes a new tabletop cooking robot equipped with microwave and a arm. Conventional large cooking robots require a lot of space for installation and cannot be easily changed after installation. This problem would be solved by reducing the size of the cooking robot, but the cooking performance will be lower than with large robots. Therefore, we define the requirements for this cooking robot, and then created a prototype robot with microwave and a small arm. We show the good ability of this prototype robot through the cooking experiments for a simple recipe. The future goal of this research is to develop a tabletop cooking robot that can be easily introduced into ordinary households.

This paper presents a new interpretation technique of the recipe the motion generation for the cooking robot. In order to generate robot operating codes by recipe written in Japanese, it is necessary to perform recipe data conversion, motion codes conversion, and robot motions generation. Firstly, recipe datas are generated by converting from the recipe getting at internet to recipe data type. Secondly, motion codes are generated by sorting recipe data based on database. Finally, robot motions are generated by using Genetic algorithm so as to meet requirement. A series of cooking operations generated by using proposed technique showed the motion expected by human, and it is successfully conducted to generate executable robot motions in real world.