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 | |
| 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 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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
}
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
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.
ER -