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

*この研究の対応する著者

研究成果: Conference contribution

28 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
出版社Institute of Electrical and Electronics Engineers Inc.
ページ172-178
ページ数7
ISBN(電子版)9781538639221
DOI
出版ステータスPublished - 2017 10月 26
イベント15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
継続期間: 2017 10月 112017 10月 13

出版物シリーズ

名前SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 安全研究

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