Design of four-arm four-crawler disaster response robot OCTOPUS

Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

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

9 Citations (Scopus)

Abstract

We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2840-2845
Number of pages6
Volume2016-June
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - 2016 Jun 8
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 2016 May 162016 May 21

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period16/5/1616/5/21

Fingerprint

Disasters
Robots
Demolition
Debris
Stabilization
Hydraulics
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kamezaki, M., Ishii, H., Ishida, T., Seki, M., Ichiryu, K., Kobayashi, Y., ... Yamakawa, H. (2016). Design of four-arm four-crawler disaster response robot OCTOPUS. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp. 2840-2845). [7487447] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487447

Design of four-arm four-crawler disaster response robot OCTOPUS. / Kamezaki, Mitsuhiro; Ishii, Hiroyuki; Ishida, Tatsuzo; Seki, Masatoshi; Ichiryu, Ken; Kobayashi, Yo; Hashimoto, Kenji; Sugano, Shigeki; Takanishi, Atsuo; Fujie, Masakatsu G.; Hashimoto, Shuji; Yamakawa, Hiroshi.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June Institute of Electrical and Electronics Engineers Inc., 2016. p. 2840-2845 7487447.

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

Kamezaki, M, Ishii, H, Ishida, T, Seki, M, Ichiryu, K, Kobayashi, Y, Hashimoto, K, Sugano, S, Takanishi, A, Fujie, MG, Hashimoto, S & Yamakawa, H 2016, Design of four-arm four-crawler disaster response robot OCTOPUS. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. vol. 2016-June, 7487447, Institute of Electrical and Electronics Engineers Inc., pp. 2840-2845, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 16/5/16. https://doi.org/10.1109/ICRA.2016.7487447
Kamezaki M, Ishii H, Ishida T, Seki M, Ichiryu K, Kobayashi Y et al. Design of four-arm four-crawler disaster response robot OCTOPUS. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2840-2845. 7487447 https://doi.org/10.1109/ICRA.2016.7487447
Kamezaki, Mitsuhiro ; Ishii, Hiroyuki ; Ishida, Tatsuzo ; Seki, Masatoshi ; Ichiryu, Ken ; Kobayashi, Yo ; Hashimoto, Kenji ; Sugano, Shigeki ; Takanishi, Atsuo ; Fujie, Masakatsu G. ; Hashimoto, Shuji ; Yamakawa, Hiroshi. / Design of four-arm four-crawler disaster response robot OCTOPUS. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2840-2845
@inproceedings{2309650f90cf46f183a7e5b62f3e6dc7,
title = "Design of four-arm four-crawler disaster response robot OCTOPUS",
abstract = "We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.",
author = "Mitsuhiro Kamezaki and Hiroyuki Ishii and Tatsuzo Ishida and Masatoshi Seki and Ken Ichiryu and Yo Kobayashi and Kenji Hashimoto and Shigeki Sugano and Atsuo Takanishi and Fujie, {Masakatsu G.} and Shuji Hashimoto and Hiroshi Yamakawa",
year = "2016",
month = "6",
day = "8",
doi = "10.1109/ICRA.2016.7487447",
language = "English",
volume = "2016-June",
pages = "2840--2845",
booktitle = "2016 IEEE International Conference on Robotics and Automation, ICRA 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

TY - GEN

T1 - Design of four-arm four-crawler disaster response robot OCTOPUS

AU - Kamezaki, Mitsuhiro

AU - Ishii, Hiroyuki

AU - Ishida, Tatsuzo

AU - Seki, Masatoshi

AU - Ichiryu, Ken

AU - Kobayashi, Yo

AU - Hashimoto, Kenji

AU - Sugano, Shigeki

AU - Takanishi, Atsuo

AU - Fujie, Masakatsu G.

AU - Hashimoto, Shuji

AU - Yamakawa, Hiroshi

PY - 2016/6/8

Y1 - 2016/6/8

N2 - We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

AB - We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

UR - http://www.scopus.com/inward/record.url?scp=84977584767&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84977584767&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2016.7487447

DO - 10.1109/ICRA.2016.7487447

M3 - Conference contribution

VL - 2016-June

SP - 2840

EP - 2845

BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

ER -