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| Main Authors: | , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.09695 |
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| _version_ | 1866911262282088448 |
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| author | Kim, David Minkwan Lee, K. M. Brian Seo, Yong Hyeok Raicevic, Nikola Li, Runfa Blark Long, Kehan Yoon, Chan Seon Kang, Dong Min Lim, Byeong Jo Kim, Young Pyoung Atanasov, Nikolay Nguyen, Truong Jun, Se Woong Kim, Young Wook |
| author_facet | Kim, David Minkwan Lee, K. M. Brian Seo, Yong Hyeok Raicevic, Nikola Li, Runfa Blark Long, Kehan Yoon, Chan Seon Kang, Dong Min Lim, Byeong Jo Kim, Young Pyoung Atanasov, Nikolay Nguyen, Truong Jun, Se Woong Kim, Young Wook |
| contents | We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end effector and RGB-D cameras. To support teleoperation in dynamic environments with limited visibility, we use Gaussian splatting for online 3D reconstruction and introduce motion parameters to model moving objects. For safe operation around dynamic obstacles, we developed a neural configuration-space barrier approach for planning and control. Initial feasibility studies demonstrate the capability of the hardware in drilling, bolting, and anchoring, and the software in safe teleoperation in a dynamic environment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_09695 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Shared-Autonomy Construction Robotic System for Overhead Works Kim, David Minkwan Lee, K. M. Brian Seo, Yong Hyeok Raicevic, Nikola Li, Runfa Blark Long, Kehan Yoon, Chan Seon Kang, Dong Min Lim, Byeong Jo Kim, Young Pyoung Atanasov, Nikolay Nguyen, Truong Jun, Se Woong Kim, Young Wook Robotics Systems and Control We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end effector and RGB-D cameras. To support teleoperation in dynamic environments with limited visibility, we use Gaussian splatting for online 3D reconstruction and introduce motion parameters to model moving objects. For safe operation around dynamic obstacles, we developed a neural configuration-space barrier approach for planning and control. Initial feasibility studies demonstrate the capability of the hardware in drilling, bolting, and anchoring, and the software in safe teleoperation in a dynamic environment. |
| title | A Shared-Autonomy Construction Robotic System for Overhead Works |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2511.09695 |