NDLI: Mobile robot for automatic installation of floor tiles

Content Provider	IEEE Xplore Digital Library
Author	Apostolopoulos, D. Schempf, H. West, J.
Copyright Year	1996
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Apostolopoulos, D.; Schempf, H.)
Abstract	This paper describes the configuration of a floor-tile installation robot for commercial buildings. The research is motivated by the need to reduce the installation time and cost while guaranteeing consistent quality. An autonomous, electrically-powered mobile robot with omnidirectional locomotive capability, and stereo cameras and light-striper for sensing has been developed. High resolution imaging is needed to identify tile seams and edges, assess the quality of automatic installation, and locate where the next tile should be placed. A mechanically compliant placement device would place the tile quickly and accurately without damaging the placed and surrounding tiles, emulating a human capability. Vinyl/ceramic tiles, adhesives, and grout are carried onboard the robot and replenished by the operator. Navigation and positioning are performed through a laser-based triangulation system, and by detecting, counting and dead-reckoning off of tiles placed on the floor. Tile and installation quality are continuously monitored and errors corrected for, based on an overall layout map.
Starting Page	3652
Ending Page	3657
File Size	1024887
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.509269
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Tiles Floors Robotics and automation Robot sensing systems Costs Robot vision systems Cameras High-resolution imaging Humans
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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