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IROS 2018poster3 citations

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

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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.

BibTeX
@inproceedings{iros2018_endeffectorwitha,
  title = {End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot},
  author = {Takashi Matsuzawa and Asaki Imai and Kenji Hashimoto and Tomotaka Teramachi and Xiao Sun and Shunsuke Kimura and Nobuaki Sakai and Yuki Yoshida and Kengo Kumaaai and Takanobu Matsubara and Koki Yamaguchi and Atsuo Takanishi},
  booktitle = {IROS 2018},
  year = {2018}
}
End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot · IROS 2018