End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot

Takashi Matsuzawa; Asaki Imai; Kenji Hashimoto; Tomotaka Teramachi; Xiao Sun; Shunsuke Kimura; Nobuaki Sakai; Yuki Yoshida; Kengo Kumaaai; Takanobu Matsubara; Koki Yamaguchi; Atsuo Takanishi

doi:10.1109/IROS.2018.8593422

End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot

Takashi Matsuzawa, Asaki Imai, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Kengo Kumaaai, Takanobu Matsubara, Koki Yamaguchi, Atsuo Takanishi

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we propose an end-effector for realizing various locomotion modes and simple work of a legged robot. The locomotion modes include climbing a vertical ladder, crawling, and walking. The simple work includes grasping and switching motions required at a disaster site. The developed end-effector has a two-pronged hook shape and two fingers for grasping and working and can be used to perform the locomotion and manipulation tasks described above. The experimental results confirmed that the four-limb robot WAREC-1 (WAseda REsCuer-No. 1) equipped with our proposed end-effector was able to climb a vertical ladder and perform the crawling motion. We also confirmed that the end-effector could grasp and switch five types of objects: a cylinder, cylinder with trigger, T-shaped, disk, and thin plate.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2727-2732
Number of pages	6
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/IROS.2018.8593422
Publication status	Published - 2018 Dec 27
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 2018 Oct 1 → 2018 Oct 5

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country	Spain
City	Madrid
Period	18/10/1 → 18/10/5

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2018.8593422

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Matsuzawa, T., Imai, A., Hashimoto, K., Teramachi, T., Sun, X., Kimura, S., Sakai, N., Yoshida, Y., Kumaaai, K., Matsubara, T., Yamaguchi, K., & Takanishi, A. (2018). End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 2727-2732). [8593422] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593422

End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot. / Matsuzawa, Takashi; Imai, Asaki; Hashimoto, Kenji; Teramachi, Tomotaka; Sun, Xiao; Kimura, Shunsuke; Sakai, Nobuaki; Yoshida, Yuki; Kumaaai, Kengo; Matsubara, Takanobu; Yamaguchi, Koki; Takanishi, Atsuo.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2727-2732 8593422 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Matsuzawa, T, Imai, A, Hashimoto, K, Teramachi, T, Sun, X, Kimura, S, Sakai, N, Yoshida, Y, Kumaaai, K, Matsubara, T, Yamaguchi, K & Takanishi, A 2018, End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593422, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 2727-2732, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 18/10/1. https://doi.org/10.1109/IROS.2018.8593422

Matsuzawa T, Imai A, Hashimoto K, Teramachi T, Sun X, Kimura S et al. End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2727-2732. 8593422. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8593422

Matsuzawa, Takashi ; Imai, Asaki ; Hashimoto, Kenji ; Teramachi, Tomotaka ; Sun, Xiao ; Kimura, Shunsuke ; Sakai, Nobuaki ; Yoshida, Yuki ; Kumaaai, Kengo ; Matsubara, Takanobu ; Yamaguchi, Koki ; Takanishi, Atsuo. / End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2727-2732 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "In this paper, we propose an end-effector for realizing various locomotion modes and simple work of a legged robot. The locomotion modes include climbing a vertical ladder, crawling, and walking. The simple work includes grasping and switching motions required at a disaster site. The developed end-effector has a two-pronged hook shape and two fingers for grasping and working and can be used to perform the locomotion and manipulation tasks described above. The experimental results confirmed that the four-limb robot WAREC-1 (WAseda REsCuer-No. 1) equipped with our proposed end-effector was able to climb a vertical ladder and perform the crawling motion. We also confirmed that the end-effector could grasp and switch five types of objects: a cylinder, cylinder with trigger, T-shaped, disk, and thin plate.",

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AU - Hashimoto, Kenji

AU - Teramachi, Tomotaka

AU - Sun, Xiao

AU - Kimura, Shunsuke

AU - Sakai, Nobuaki

AU - Yoshida, Yuki

AU - Kumaaai, Kengo

AU - Matsubara, Takanobu

AU - Yamaguchi, Koki

AU - Takanishi, Atsuo

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