@inbook{58296c4a59c748fabd5238855e06124e,
title = "End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder",
abstract = "This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot{\textquoteright}s feet to reach the highest rung.",
keywords = "Ladder climbing, Legged robot, Rescue robot",
author = "Takashi Matsuzawa and Kenji Hashimoto and Tomotaka Teramachi and Kazuhiro Uryu and Xiao Sun and Shinya Hamamoto and Ayanori Koizumi and Atsuo Takanishi",
note = "Publisher Copyright: {\textcopyright} 2016, CISM International Centre for Mechanical Sciences.",
year = "2016",
doi = "10.1007/978-3-319-33714-2_35",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "311--319",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}