**1. Introduction**

The human being is the only living organism which steadily uses "tools". We have used tools to cultivate our land, grow our food, build up cities and communication infrastructures – tools are the basis for phenomena as culture and globalization. Some even argue that tools (and especially the wealth they are able to create for a huge amount of people) are the basis for today's global spread of freedom and democracy [1].

Especially tools which enhance our power in the field of mobility have played an important role in human history. The bicycle, an archetype of the assistance in physical ability and mobility, is based on the combination of human power and an artificial, technical system and was introduced by C. Drais in 1817. Later on, the car pressed ahead with this approach and supplemented human force by motor technology, a kind of actuator. Ergonomics and the research on efficient man-machine cooperation developed during First and Second World War in order to maximize the efficiency of man controlled artifacts as motor cycles, cars, airplanes, ships and other war equipment. After the Second World War, systematic science in improving man-machine systems led to airplanes and cars which more and more reduced the physical and cognitive workload of the human users. Today's cars take over driving maneuvers in critical situations and electric cars equipped with sensor-actuator systems provide a multitude of possibilities to assist the driver and driving efficiency. Within the scope of research on the next generation fighter jet control an autopilot is used which is able to set its degree of autonomy in real-time based on the measured cognitive workload of the pilot [2]. An even closer relation between man and machine is represented by so called mobile suits envisaged by Japanese technology visionaries (e.g. in Japanese Mangas) since the 60 's. In 1963, the Rancho Arm was developed by Rancho Los Amigos Hospital (California) as an artificial limb for handicapped and later on integrated with computer technology by Stanford University. Experiments with whole mobile suits and power assistance devices were conducted by Japanese robotic scientists since the 70 's. Today's version of HAL (Hybrid Assistive Limb) is controlled by bio-electric signals thus blurring the borders between man and machine. Further, modern power suits allow a stepwise regulation of the suits' assistive power according to user's individual needs. Finally, Toyota calls its next generation of downsized, personal, and electrical mobility devices like iReal and iSwing explicitly "Mobility Robots" and closely cooperates with top robotic researches to make them as intuitively operated as possible.

Exoskeleton and Humanoid Robotic Technology in Construction and Built Environment 113

Yokoyama, K., Maeda, J., Isozumi, T., Kaneko, K. (2006) Application of Humanoid Robots for

Fig. 1. Humanoid Robot HRP-2 assisting in construction environment in carrying and

Experts and masterminds, as for example Bill Gates, announce the era of service robotics and estimate that service robotics as part of assisted environments will undergo a similarly fast and rigid development as the spread of personal computers in private and economic areas since the nineties. In 1961, Joe Engelberger already wondered, whether using robotic technologies only as industrial applications makes any sense. "The biggest market will be service robots," [7] asserted Engelberger, who started the industrial robotics era, when his firm Unimation delivered GM's first robot. Today, the application of robotics and distributed robotic sub-systems finally starts to extend into our home, office and town surroundings. This transformation, which has to be understood as a natural part of the evolution of robotics, will become visible especially when robots enter the field of service, assistance and care [8]. We think that modern robotics assisting and serving human beings will permeate into the "surroundings" of daily life and thus become an integral part of our

Cooperative Tasks in the Outdoors

installing building parts and building modules. [5]

**1.2 Building technology and service tasks** 

Meanwhile, the ICT (Information and Communication Technology) and robotic technology no longer only focus on upgrading devices for mobility on middle and long distance (e.g. mobility from city to city, within a city) [3] but enhance more and more devices for mobility on a short distance and on the level of centimeters (mobility in the neighborhood, within the building, and individual motions). Especially in ageing societies, aforementioned robotic power assisting "tools" might transform our way of thinking about how to utilize robot technology. A multitude of robotic devices able to restore, support, augment, and supplement human abilities has been developed up to now. In order to support a systematic development of future concepts, new application scenarios and technologies, we have mapped the state-of-the-art of robotic power assisted "tools" supporting and augmenting human abilities. Particularly, we will show in this article, that advancing robot technology has a growing potential to gain great influence in the construction and building sector and as assistants in our built environment.

Most major industries have already extensively made use of robotic technology. Robotics has transformed production system technology in automotive industry, aircraft industry and in the electrical appliances' sector. Rapid advancements are currently made in ICT (Information and Communication Technology) and robotics in the medical field. Furthermore, in the US companies, e.g. John Deer, make advancements in applying field robotics to partly and fully autonomous farming machines. In the future, we see a huge potential for robotics – wearable cooperative systems as well as fully autonomous systems to permeate the field of construction and building technology. As construction technology we define tools and processes needed to erect a building. Whereas building technology refers to the buildings' or environment's performance and stands for tools and processes that assist people within the built environment from the scale of individual buildings up to neighborhoods or cities.

#### **1.1 Construction technology**

Up to now, automation and robotic technology has been applied in construction mainly for processing raw materials and production of building parts and building modules. Parts and modules had to be prefabricated in a structured and standardized environment for a safe and robust operation of the robots. In unstructured and not-standardized environments as on the construction site or in service environments, autonomous humanoids or service robots were difficult to operate. However, robot technology advances. Scientists as e.g. T. Hasegawa find ways to structure environments for robots [4] and also cognition and control technology become more advanced. Shimizu Corporation, a big Japanese construction company, cooperates with Yasukawa Electric Corporation, Kawada Industries and the national research institute AIST for introducing Humanoid robots to construction work for more than eight years already [5]. It has already been shown that humanoid robots as HRP-2 can carry a joinery bench together with a construction worker, fit an interior wall, and drive forklifts or diggers. Groups of HRP-2s can cooperate, move over a gradient of around five degrees and compensate for up to two centimeters on uneven surfaces [6]. They can straighten up themselves when they fall over. When carrying a component with a human, they use an adaptive and flexible arm system. An image processing system with a mobile portable control system has been developed to allow location detection. When the robots move over uneven surface, a force sensor in the sole of the foot and a balance sensor in the body register the difference and so, the sole of the foot can adapt to the surface.

112 The Future of Humanoid Robots – Research and Applications

Meanwhile, the ICT (Information and Communication Technology) and robotic technology no longer only focus on upgrading devices for mobility on middle and long distance (e.g. mobility from city to city, within a city) [3] but enhance more and more devices for mobility on a short distance and on the level of centimeters (mobility in the neighborhood, within the building, and individual motions). Especially in ageing societies, aforementioned robotic power assisting "tools" might transform our way of thinking about how to utilize robot technology. A multitude of robotic devices able to restore, support, augment, and supplement human abilities has been developed up to now. In order to support a systematic development of future concepts, new application scenarios and technologies, we have mapped the state-of-the-art of robotic power assisted "tools" supporting and augmenting human abilities. Particularly, we will show in this article, that advancing robot technology has a growing potential to gain great influence in the construction and building sector and

Most major industries have already extensively made use of robotic technology. Robotics has transformed production system technology in automotive industry, aircraft industry and in the electrical appliances' sector. Rapid advancements are currently made in ICT (Information and Communication Technology) and robotics in the medical field. Furthermore, in the US companies, e.g. John Deer, make advancements in applying field robotics to partly and fully autonomous farming machines. In the future, we see a huge potential for robotics – wearable cooperative systems as well as fully autonomous systems to permeate the field of construction and building technology. As construction technology we define tools and processes needed to erect a building. Whereas building technology refers to the buildings' or environment's performance and stands for tools and processes that assist people within the built environment from the scale of individual buildings up to

Up to now, automation and robotic technology has been applied in construction mainly for processing raw materials and production of building parts and building modules. Parts and modules had to be prefabricated in a structured and standardized environment for a safe and robust operation of the robots. In unstructured and not-standardized environments as on the construction site or in service environments, autonomous humanoids or service robots were difficult to operate. However, robot technology advances. Scientists as e.g. T. Hasegawa find ways to structure environments for robots [4] and also cognition and control technology become more advanced. Shimizu Corporation, a big Japanese construction company, cooperates with Yasukawa Electric Corporation, Kawada Industries and the national research institute AIST for introducing Humanoid robots to construction work for more than eight years already [5]. It has already been shown that humanoid robots as HRP-2 can carry a joinery bench together with a construction worker, fit an interior wall, and drive forklifts or diggers. Groups of HRP-2s can cooperate, move over a gradient of around five degrees and compensate for up to two centimeters on uneven surfaces [6]. They can straighten up themselves when they fall over. When carrying a component with a human, they use an adaptive and flexible arm system. An image processing system with a mobile portable control system has been developed to allow location detection. When the robots move over uneven surface, a force sensor in the sole of the foot and a balance sensor in the

body register the difference and so, the sole of the foot can adapt to the surface.

as assistants in our built environment.

neighborhoods or cities.

**1.1 Construction technology** 

Yokoyama, K., Maeda, J., Isozumi, T., Kaneko, K. (2006) Application of Humanoid Robots for Cooperative Tasks in the Outdoors

Fig. 1. Humanoid Robot HRP-2 assisting in construction environment in carrying and installing building parts and building modules. [5]
