Towards controlled semi-autonomous deconstruction

摘要

Abstract The automation of deconstruction processes presents unique difficulties due to the harsh working conditions involved. In this research, we aim to address these limitations by advancing the teleoperated machine, BROKK 170, toward a developed semi-autonomous concept. We propose a framework for robot-assisted deconstruction, exploring the communication and sensing systems of the prototype deconstruction robot, along with its capabilities. Additionally, field tests are conducted to evaluate the performance of the proposed approach in real-world scenarios. The potentials and limitations drawn from these initial results are discussed.