WAREC-1 — A four-limbed robot having high locomotion ability with versatility in locomotion styles

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Pub Date : 2017-10-26 DOI:10.1109/SSRR.2017.8088159

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

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引用次数: 31

Abstract

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.

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warec1 -一种四足机器人，具有很高的运动能力和多种运动方式

本文提出了一种新型的四足机器人warec1，它具有高运动能力和多种运动方式。在灾难现场，机器人必须移动的环境有各种类型，如有倒塌可能性的崎岖地形，狭窄的地方，楼梯，垂直梯子等。warec1通过改变运动方式在危险环境中移动:两足/四足行走，爬行和爬梯子。warec1的肢体结构普遍为28- dof，每条肢体7- dof。该机器人四肢站立时高1690毫米，重155公斤。我们开发了三种空心结构的致动器单元，通过warec1关节内部的布线，使机器人通过匍匐在腹部的方式在碎石上移动。机构呈凹形，末端执行器呈钩状。通过实验对warec1机器人进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)

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