A four-limbed disaster-response robot having high mobility capabilities in extreme environments

Kenji Hashimoto, Takashi Matsuzawa, Tomotaka Teramachi, Kazuhito Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper describes a novel four-limbed robot having high mobility capability in extreme environments. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5398-5405
Number of pages8
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/TerritoryCanada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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