End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

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

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingChapter

    8 Citations (Scopus)

    Abstract

    This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot’s feet to reach the highest rung.

    Original languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages311-319
    Number of pages9
    DOIs
    Publication statusPublished - 2016 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume569
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Keywords

    • Ladder climbing
    • Legged robot
    • Rescue robot

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

    Fingerprint

    Dive into the research topics of 'End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder'. Together they form a unique fingerprint.

    Cite this