Task planning experiment toward an autonomous robot system for the construction of overhead distribution lines

As an initial stage in the realization of an autonomous robot system for the construction of overhead distribution lines, we have developed an experimental set-up with a task planner to install a power switchgear model on a mock-up utility pole. When an operator inputs a task level command of standard installation tasks to the system, the task planner generates robot control commands to perform a desired task automatically by referring to an environment and a task knowledge database. The robot then moves and executes the specified task according to the robot control commands that have been generated. We have verified in the experimental set-up that, using the developed task planner, a number of typical tasks for installation of the power switchgear model can be performed smoothly with a small amount of assistance from the operator.