TY - GEN
T1 - WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles
AU - Hashimoto, Kenji
AU - Kimura, Shunsuke
AU - Sakai, Nobuaki
AU - Hamamoto, Shinya
AU - Koizumi, Ayanori
AU - Sun, Xiao
AU - Matsuzawa, Takashi
AU - Teramachi, Tomotaka
AU - Yoshida, Yuki
AU - Imai, Asaki
AU - Kumagai, Kengo
AU - Matsubara, Takanobu
AU - Yamaguchi, Koki
AU - Ma, Gan
AU - Takanishi, Atsuo
N1 - Funding Information:
*This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). It was also partially supported by SolidWorks Japan K. K; DYDEN Corporation; and KITO Corporation whom we thank for their financial and technical support.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2017/10/26
Y1 - 2017/10/26
N2 - This paper presents a novel four-limbed robot, WAREC-1 having high locomotion ability with versatility in locomotion styles. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so on. WAREC-1 moves in hazardous environments by changing locomotion styles: Bipedal/quadrupedal walking, crawling, and ladder climbing. WAREC-1 has commonly structured limbs with 28-DoFs in total with 7-DoFs in each limb. The robot is 1,690 mm tall when standing on two limbs and weighs 155 kg. We developed three types actuator units with hollow structure to pass the wiring inside the joints of WAREC-1, which enables the robot to move on rubble by creeping on its stomach. The body has a concave shape, and the end-effector has hook-like shape. Verification of the WAREC-1 robot is conducted through experiments.
AB - This paper presents a novel four-limbed robot, WAREC-1 having high locomotion ability with versatility in locomotion styles. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so on. WAREC-1 moves in hazardous environments by changing locomotion styles: Bipedal/quadrupedal walking, crawling, and ladder climbing. WAREC-1 has commonly structured limbs with 28-DoFs in total with 7-DoFs in each limb. The robot is 1,690 mm tall when standing on two limbs and weighs 155 kg. We developed three types actuator units with hollow structure to pass the wiring inside the joints of WAREC-1, which enables the robot to move on rubble by creeping on its stomach. The body has a concave shape, and the end-effector has hook-like shape. Verification of the WAREC-1 robot is conducted through experiments.
UR - http://www.scopus.com/inward/record.url?scp=85040229648&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85040229648&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2017.8088159
DO - 10.1109/SSRR.2017.8088159
M3 - Conference contribution
AN - SCOPUS:85040229648
T3 - SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
SP - 172
EP - 178
BT - SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
Y2 - 11 October 2017 through 13 October 2017
ER -