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

    Research output: Chapter in Book/Report/Conference proceedingChapter

    7 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

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  • Cite this

    Matsuzawa, T., Hashimoto, K., Teramachi, T., Uryu, K., Sun, X., Hamamoto, S., Koizumi, A., & Takanishi, A. (2016). End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 311-319). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_35