Development of a prototype electrically-driven four-arm four-flipper disaster response robot OCTOPUS

Mitsuhiro Kamezaki, Kui Chen, Kohga Azuma, Takahiro Katano, Taisei Kaneko, Tatsuzo Ishida, Masayuki Nakayama, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In a previous study, we have developed a four-arm four-crawler disaster response robot called 'OCTOPUS'. Advanced disaster response robots are expected to be capable of both mobility, such as entering narrow spaces over unstructured ground, and workability, such as preforming complex debris-removal work. We have confirmed experimentally that the four arms could make the robot perform complex tasks while ensuring stabilization when climbing steps while the four flippers could make it traverse rough terrain while avoiding toppling over when conducting manipulation task. OCTOPUS, renamed as H-OCTOPUS, is oil-hydraulically driven to perform outdoor demolition of heavy debris, and is teleoperated by two operators. In this study, we develop a prototype electrically-driven OCTOPUS, called E-OCTOPUS, to manipulate various light-objects mainly indoors such as valve operations in nuclear power plants. For reducing the size and weight while maximizing task performance, we introduced a mutual complementary strategy between its arms and flippers. To validate the capability of E-OCTOPUS, we performed preliminary experiments involving climbing high steps and manipulating and cutting wires by cooperating the four arms and four flippers. The results indicated that E-OCTOPUS could complete the tasks by coordinating its four arms and four flippers.

本文言語English
ホスト出版物のタイトル1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1019-1024
ページ数6
ISBN(電子版)9781509021826
DOI
出版ステータスPublished - 2017 10 6
イベント1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States
継続期間: 2017 8 272017 8 30

出版物シリーズ

名前1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
2017-January

Other

Other1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
CountryUnited States
CityKohala Coast
Period17/8/2717/8/30

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

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