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’s feet to reach the highest rung.
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Acknowledgments
This research was conducted as a collaborative research between the Humanoid Robotics Institute (HRI), Waseda University and Mitsubishi Heavy Industries, Ltd. We would like to express thanks to SolidWorks Japan K. K, DYDEN CORPORATION and KITO CORPORATION.
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© 2016 CISM International Centre for Mechanical Sciences
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Matsuzawa, T. et al. (2016). End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_35
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DOI: https://doi.org/10.1007/978-3-319-33714-2_35
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