End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder
End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder
复制标题
常见肢体结构救灾机器人末端执行器及垂直梯攀爬实验
DOI：
10.1007/978-3-319-33714-2_35
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
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作者：
T. Matsuzawa;K. Hashimoto;Tomotaka Teramachi;Kazuhiro Uryu;Xiao Sun;Shinya Hamamoto;Ayanori Koizumi;A. Takanishi
介绍了救灾机器人末端执行器的研制和爬梯实验。末端执行器需要能够悬挂在横档和侧轨上，并能够像手和脚一样工作。研制了一种钩状末端执行器，使其可以挂在梯子的横档和侧轨上，钩背面的凹槽使其可以同时起到手脚的作用，牢固地固定在梯子的横档上。此外，末端执行器的设计允许机器人执行一些运动风格以外的攀登，如双足步行。我们做了实验，爬梯子遵守日本工业标准（JIS）的机器人进行。因此，末端执行器使机器人的脚能够到达最高的梯级。
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.
通用肢体结构救灾机器人研制及垂直梯攀爬实验
DOI：
--
发表时间：
2015
期刊：
影响因子：
--
作者：
Takashi Matsuzawa;Kenji Hashimoto;Xiao Sun;Kazuhiro Uryu;Ayanori Koizumi;Shinya Hamamoto;Tomotaka Teramachi and Atsuo Takanishi
通讯作者：
Tomotaka Teramachi and Atsuo Takanishi