Insertion of a flexible wire into a hole is a difficult task because the wire has a tendency to buckle under external forces. Moreover, the plastic deformation occurs on a flexible wire when the force acting on the wire is big. In this paper, we propose a method of inserting a flexible wire whereby a force acts on the wire and the shape of the wire is observed by stereo vision. A strategy to transform the deformed wire to the straight one and to insert the wire into a hole is presented. Finally, some experimental results are shown.

Measuring the force on a flexible wire is difficult by using force/torque sensors when the flexural rigidity of the wire is small because the wire buckles and the force on the wire is smaller than the force that can be measured by a force/torque sensor. This paper presents a method of calculating the force on a wire from its shape observed by stereo vision. We propose a method of inserting the wire into a hole in a wall by using the estimated force. Three experiments have been successfully carried out.

Discusses the task of inserting a flexible beam into a hole when the friction force is large enough to buckle the beam. The authors analyze the buckle shape of the beam and external forces and moments loaded on the beam during the insertion task, under the condition that the potential energy of the beam is minimized. Then, the authors find that the buckling shape has two buckling modes and the modes are changed by varying the orientation angle of the end of the beam. The authors propose a method of performing the insertion task, based on an analysis of the relation between the external forces and friction coefficient. Finally, the authors present experimental results which confirm their analysis.

The next generation "Mobile Hot-Line Work Robot" has been developed by Kyushu Electric Power Co., Inc. (KEPCO). It functions semi-automatically, remote-controlled from the vehicle mounted cabin on the ground. The operator follows work through camera eyes and gives direction when necessary. This model is the first step toward a fully self-controlled robot. The authors have succeeded in introducing this technology to the electric utility construction work field. It has been commonly understood that it is extremely difficult to introduce robotic techniques into this field. The robot will pave the way for a better work environment in the industry In addition, this technology may serve for improved working conditions within and outside of Japan not only for the electric power industry but also other fields, such as track maintenance work in the railroad industry.