Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 172-178 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781538639221 |
| DOIs | |
| Publication status | Published - 2017 Oct 26 |
| Event | 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China Duration: 2017 Oct 11 → 2017 Oct 13 |
Other
| Other | 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 |
|---|---|
| Country | China |
| City | Shanghai |
| Period | 17/10/11 → 17/10/13 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Safety, Risk, Reliability and Quality
- Control and Optimization
- Safety Research
Cite this
WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles. / Hashimoto, Kenji; Kimura, Shunsuke; Sakai, Nobuaki; Hamamoto, Shinya; Koizumi, Ayanori; Sun, Xiao; Matsuzawa, Takashi; Teramachi, Tomotaka; Yoshida, Yuki; Imai, Asaki; Kumagai, Kengo; Matsubara, Takanobu; Yamaguchi, Koki; Ma, Gan; Takanishi, Atsuo.
SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 172-178 8088159.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
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
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.
ER -