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

doi:10.1109/SSRR.2017.8088159

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 proceeding › Conference contribution

20 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 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	https://doi.org/10.1109/SSRR.2017.8088159
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

ASJC Scopus subject areas

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

Access to Document

10.1109/SSRR.2017.8088159

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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

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

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., 8088159, Institute of Electrical and Electronics Engineers Inc., pp. 172-178, 15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017, Shanghai, China, 17/10/11. https://doi.org/10.1109/SSRR.2017.8088159

Hashimoto K, Kimura S, Sakai N, Hamamoto S, Koizumi A, Sun X et al. 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. Institute of Electrical and Electronics Engineers Inc. 2017. p. 172-178. 8088159 https://doi.org/10.1109/SSRR.2017.8088159

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. / WAREC-1 - A four-limbed robot having high locomotion ability with versatility in locomotion styles. SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 172-178

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