WAREC-1 — A four-limbed robot having high locomotion ability with versatility in locomotion styles
WAREC-1 — A four-limbed robot having high locomotion ability with versatility in locomotion styles
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WAREC-1 — 具有高运动能力和多种运动方式的四肢机器人
DOI：
10.1109/ssrr.2017.8088159
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发表时间：
2017
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：
K. Hashimoto;S. Kimura;Nobuaki Sakai;Shinya Hamamoto;Ayanori Koizumi;Xiao Sun;T. Matsuzawa;Tomotaka Teramachi;Y. Yoshida;Asaki Imai;Kengo Kumagai;Takanobu Matsubara;Koki Yamaguchi;Gan Ma;A. Takanishi
本文提出了一种新型的四肢机器人，WAREC-1具有高的运动能力，在运动风格的多功能性。在灾难现场，机器人必须移动的各种环境，如可能倒塌的崎岖地形，狭窄的地方，楼梯，垂直梯子等。WAREC-1通过改变运动方式在危险环境中移动：两足/四足步行，爬行和爬梯子。WAREC-1具有通常结构的分支，总共具有28个自由度，每个分支中具有7个自由度。该机器人在两肢站立时高1，690 mm，重155 kg。我们开发了三种中空结构的驱动单元，用于通过WAREC-1关节内的布线，使机器人能够通过腹部爬行在碎石上移动。主体具有凹形形状，并且末端执行器具有钩状形状。通过实验对WAREC-1机器人进行了验证。
This paper presents a novel four-limbed robot, WAREC-1 having high locomotion ability with versatility in locomotion styles. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so on. WAREC-1 moves in hazardous environments by changing locomotion styles: bipedal/quadrupedal walking, crawling, and ladder climbing. WAREC-1 has commonly structured limbs with 28-DoFs in total with 7-DoFs in each limb. The robot is 1,690 mm tall when standing on two limbs and weighs 155 kg. We developed three types actuator units with hollow structure to pass the wiring inside the joints of WAREC-1, which enables the robot to move on rubble by creeping on its stomach. The body has a concave shape, and the end-effector has hook-like shape. Verification of the WAREC-1 robot is conducted through experiments.