TY - GEN
T1 - End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot
AU - Matsuzawa, Takashi
AU - Imai, Asaki
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
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85062937019&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062937019&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8593422
DO - 10.1109/IROS.2018.8593422
M3 - Conference contribution
AN - SCOPUS:85062937019
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2727
EP - 2732
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -