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

Corresponding Author:[email protected]

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Yun-Hui Liu
The Chinese University of Hong Kong Department of Mechanical and Automation Engineering
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Shuzhi Sam Ge
National University of Singapore Department of Electrical and Computer Engineering
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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 2023Submission Checks Completed
14 Sep 2023Assigned to Editor
14 Sep 2023Review(s) Completed, Editorial Evaluation Pending
05 Oct 2023Reviewer(s) Assigned
24 Jan 20241st Revision Received
24 Jan 2024Submission Checks Completed
24 Jan 2024Assigned to Editor
24 Jan 2024Review(s) Completed, Editorial Evaluation Pending
06 Feb 2024Reviewer(s) Assigned
18 Mar 2024Editorial Decision: Revise Minor
02 Apr 20242nd Revision Received
03 Apr 2024Review(s) Completed, Editorial Evaluation Pending
06 Apr 2024Editorial Decision: Accept