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

Fingerprint

Hooks
End effectors
Robots
Ladders
Disasters
Switches

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., ... 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 proceedingConference 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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AU - Sun, Xiao

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