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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2727-2732
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 2018 Dec 27
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Publication series

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

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period18/10/118/10/5

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ASJC Scopus subject areas

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

Cite this

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