Name
Title | ||
|---|---|---|
End-Effector With A Hook And Two Fingers For The Locomotion And Simple Work Of A Four-Limbed Robot |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8593422 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Computer vision,Crawling,GRASP,Computer science,Legged robot,Robot end effector,Artificial intelligence,Robot,Hook,Climb,Climbing | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
12 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takashi Matsuzawa | 1 | 0 | 0.34 |
| Asaki Imai | 2 | 0 | 1.01 |
| Kenji Hashimoto | 3 | 88 | 21.58 |
| Tomotaka Teramachi | 4 | 0 | 1.01 |
| Sun, X. | 5 | 23 | 7.16 |
| Shunsuke Kimura | 6 | 0 | 0.68 |
| Nobuaki Sakai | 7 | 0 | 1.01 |
| Yuki Yoshida | 8 | 8 | 3.62 |
| Kengo Kumagai | 9 | 0 | 1.01 |
| Takanobu Matsubara | 10 | 0 | 1.01 |
| Koki Yamaguchi | 11 | 0 | 1.01 |
| Atsuo Takanishi | 12 | 1592 | 319.81 |