loading page

Puttybot - A sensorized robot for autonomous putty plastering
  • +4
  • Zhao Liu,
  • Dayuan Chen,
  • Mahmoud A. Eldosoky,
  • Zefeng Ye,
  • Xin Jiang,
  • Yun-Hui Liu,
  • Shuzhi Sam Ge
Zhao Liu
Harbin Institute of Technology Shenzhen
Author Profile
Dayuan Chen
Harbin Institute of Technology Shenzhen
Author Profile
Mahmoud A. Eldosoky
University of Electronic Science and Technology of China
Author Profile
Zefeng Ye
The Chinese University of Hong Kong Department of Mechanical and Automation Engineering
Author Profile
Xin Jiang
Harbin Institute of Technology Shenzhen

Corresponding Author:[email protected]

Author Profile
Yun-Hui Liu
The Chinese University of Hong Kong Department of Mechanical and Automation Engineering
Author Profile
Shuzhi Sam Ge
National University of Singapore Department of Electrical and Computer Engineering
Author Profile

Abstract

Plastering is dominated manually, exhibiting low levels of automation and inconsistent finished quality. A comprehensive review of literature indicates that extant plastering robots demonstrate a subpar performance when tasked with rectifying defects in transition area. The limitations encompass a lack of capacity to independently evaluate the quality of work or perform remedial plastering procedures. To address this issue, this research describes the system design of the Puttybot and a paradigm of plastering to solve the stated problems. The Puttybot consists of a mobile chassis, lift platform, and a macro/micro manipulator. The force-controlled scraper parameters have been calibrated to dynamically modify their rigidity in response to the applied putty. This strategy utilizes Convolutional Neural Networks to identify plastering defects and executes the plastering operation with force feedback. This paradigm’s effectiveness was validated during an autonomous plastering trial wherein a large-scale wall was processed without human involvement.
14 Sep 2023Submitted to Journal of Field Robotics
14 Sep 2023Assigned to Editor
14 Sep 2023Submission Checks Completed
14 Sep 2023Review(s) Completed, Editorial Evaluation Pending
05 Oct 2023Reviewer(s) Assigned