A Shared-Autonomy Construction Robotic System for Overhead Works
Authors:
David Minkwan Kim,
K. M. Brian Lee,
Yong Hyeok Seo,
Nikola Raicevic,
Runfa Blark Li,
Kehan Long,
Chan Seon Yoon,
Dong Min Kang,
Byeong Jo Lim,
Young Pyoung Kim,
Nikolay Atanasov,
Truong Nguyen,
Se Woong Jun,
Young Wook Kim
Abstract:
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 an…
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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.
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Submitted 12 November, 2025;
originally announced November 2025.