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

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

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

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