TY - GEN
T1 - A four-limbed disaster-response robot having high mobility capabilities in extreme environments
AU - Hashimoto, Kenji
AU - Matsuzawa, Takashi
AU - Teramachi, Tomotaka
AU - Uryu, Kazuhito
AU - Sun, Xiao
AU - Hamamoto, Shinya
AU - Koizumi, Ayanori
AU - Takanishi, Atsuo
N1 - Funding Information:
*This research was conducted as a collaborative research between the Humanoid Robotics Institute (HRI), Waseda University and Mitsubishi Heavy Industries, Ltd. with financial support of Mitsubishi Heavy Industries, Ltd. This study was conducted with the support of the Research Institute for Science and Engineering, Waseda University, the Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also partially supported by SolidWorks Japan K. K, DYDEN Corporation, and KITO Corporation, whom we thank for their financial and technical support.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - This paper describes a novel four-limbed robot having high mobility capability in extreme environments. 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 forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.
AB - This paper describes a novel four-limbed robot having high mobility capability in extreme environments. 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 forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.
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U2 - 10.1109/IROS.2017.8206436
DO - 10.1109/IROS.2017.8206436
M3 - Conference contribution
AN - SCOPUS:85040228101
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5398
EP - 5405
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -