End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot

Takashi Matsuzawa, Asaki Imai, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Kengo Kumaaai, Takanobu Matsubara, Koki Yamaguchi, Atsuo Takanishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, we propose an end-effector for realizing various locomotion modes and simple work of a legged robot. The locomotion modes include climbing a vertical ladder, crawling, and walking. The simple work includes grasping and switching motions required at a disaster site. The developed end-effector has a two-pronged hook shape and two fingers for grasping and working and can be used to perform the locomotion and manipulation tasks described above. The experimental results confirmed that the four-limb robot WAREC-1 (WAseda REsCuer-No. 1) equipped with our proposed end-effector was able to climb a vertical ladder and perform the crawling motion. We also confirmed that the end-effector could grasp and switch five types of objects: a cylinder, cylinder with trigger, T-shaped, disk, and thin plate.

本文言語English
ホスト出版物のタイトル2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2727-2732
ページ数6
ISBN(電子版)9781538680940
DOI
出版ステータスPublished - 2018 12 27
イベント2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
継続期間: 2018 10 12018 10 5

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
国/地域Spain
CityMadrid
Period18/10/118/10/5

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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