Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018
Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018
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多功能救援机器人FUHGA2的开发及2018世界机器人峰会评价
DOI：
10.1080/01691864.2019.1697751
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发表时间：
2019
影响因子：
2
通讯作者：
Tadakuma Kenjiro
中科院分区：
文献类型：
--
作者：
Takemori Tatsuya;Miyake Masato;Hirai Tomoaki;Wang Xixun;Fukao Yuto;Adachi Mau;Yamaguchi Kaiyo;Tanishige Suomi;Nomura Yusuke;Matsuno Fumitoshi;Fujimoto Toshiaki;Nomura Akito;Tetsui Hikaru;Watanabe Masahiro;Tadakuma Kenjiro
在救援活动和基础设施检查中需要机器人。我们开发了救援机器人FUHGA2，使其具有多种功能。FUHGA2具有高机动性，主履带覆盖车身和四个副履带，使用长六轴臂具有高灵巧性，使用各种传感器具有高搜索能力。此外，在手臂尖端安装了一种新型的平行夹持器，该夹持器具有线卡机构，可以改变其硬度并适应物体的形状。此外，通过向操作者清晰地显示传感器信息和直观的操作指令设计，实现了高机动。FUHGA2赢得了2018年世界机器人峰会标准灾难机器人挑战赛，这是一场救援机器人的比赛。我们在所有类别的任务中都取得了高分。在本文中，我们描述了FUHGA2的发展和2018年世界机器人峰会的性能评估结果。
Robots are needed in rescue activities and the inspection of infrastructure. We developed the rescue robot FUHGA2 so that it has various functions. FUHGA2 has high mobility, with main crawlers covering the body and four sub-crawlers, high dexterity using a long six-axis arm, and high searching ability using various sensors. Furthermore, a novel parallel gripper unit with wire-jamming mechanism is mounted at the tip of the arm, which can change its hardness and fit its shape to an object. Additionally, high Maneuvering is achieved by displaying sensor information to the operator clearly and intuitive operation command design. FUHGA2 won the World Robot Summit 2018 Standard Disaster Robotics Challenge, which is a competition for rescue robots. We achieved high scores in all categories of tasks. In this paper, we describe the development of FUHGA2 and the performance evaluation results from the World Robot Summit 2018.