Design of four-arm four-crawler disaster response robot OCTOPUS

Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

研究成果: Conference contribution

12 被引用数 (Scopus)

抄録

We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

本文言語English
ホスト出版物のタイトル2016 IEEE International Conference on Robotics and Automation, ICRA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2840-2845
ページ数6
2016-June
ISBN(電子版)9781467380263
DOI
出版ステータスPublished - 2016 6 8
イベント2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
継続期間: 2016 5 162016 5 21

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period16/5/1616/5/21

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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