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

1 Citation (Scopus)

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

Fingerprint Dive into the research topics of 'End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot'. Together they form a unique fingerprint.

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

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).

@inproceedings{3b28f66be7934e4b8741511e5de4e6b5,

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

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.",

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

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

year = "2018",

month = dec,

day = "27",

doi = "10.1109/IROS.2018.8593422",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2727--2732",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",

}

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

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 -

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

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this