WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles

Kenji Hashimoto, Shunsuke Kimura, Nobuaki Sakai, Shinya Hamamoto, Ayanori Koizumi, Xiao Sun, Takashi Matsuzawa, Tomotaka Teramachi, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, Gan Ma, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    19 Citations (Scopus)

    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 languageEnglish
    Title of host publicationSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages172-178
    Number of pages7
    ISBN (Electronic)9781538639221
    DOIs
    Publication statusPublished - 2017 Oct 26
    Event15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
    Duration: 2017 Oct 112017 Oct 13

    Other

    Other15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
    CountryChina
    CityShanghai
    Period17/10/1117/10/13

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Safety, Risk, Reliability and Quality
    • Control and Optimization
    • Safety Research

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  • Cite this

    Hashimoto, K., Kimura, S., Sakai, N., Hamamoto, S., Koizumi, A., Sun, X., Matsuzawa, T., Teramachi, T., Yoshida, Y., Imai, A., Kumagai, K., Matsubara, T., Yamaguchi, K., Ma, G., & Takanishi, A. (2017). WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles. In SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference (pp. 172-178). [8088159] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2017.8088159