A Construction Robot Based on Mobile Manipulator and Sensor Fusion

Along with the development of the automated techniques, construction robots are developed rapidly. This article proposes a brick-laying robot, which automatically detects the poses of the bricks and lays the bricks on the wall. Firstly, the mechanism structure of the robot is proposed. There are four modules in the robot, including a mobile chassis, a lifting system, mechanical arm and grippers. The problem of laying the brick is investigated from the viewpoint of application. The finite state machine is used to predict and control the robot’s movement in a semi-structured environment. Software structure and the sensor system are discussed subsequently. Finally, a prototype experiment of this brick-laying robot is shown.