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This paper presents a gripper module for a snakelike robot to perform search and rescue tasks in a narrow space. The proposed gripper module has three features: (1) It can accommodate the fingers inside its body. (2) It has three fingers that can grip objects with irregular surfaces stably. (3) One of the fingers is equipped with a camera on the fingertip to search in a narrow space. To implement the above features in a small, light, and compact gripper module, we propose a novel design of a gripper module with three fingers and eight degrees of freedom. The joint configuration of the proposed gripper is unique compared with a general-type gripper. A prototype of the proposed gripper module has been integrated into a snake-like robot to demonstrate its capability of performing rescue tasks in a collapsed environment. The three features of the proposed gripper module are experimentally verified: it is light (0.4kg), small (less than 68mm in diameter), and powerful (grasping force = 2.48kgf).

-Jinpoong is a quadruped walking robot developed by the Korea Institute of Industrial Technology. Jinpoong was developed for use in surveillance, reconnaissance, transportation, and guidance tasks in atypical environments such as those encountered after a disaster. To perform these tasks successfully, the robot must be able to walk stably over uneven terrain. The aim of this study was to develop a method for absorbing the impacts experienced by the robot while walking and a method for resisting external forces applied to the side (sagittal plane) of the robot so that it can walk stably. We demonstrate the efficacy of the methods developed through experiments.

The Quadruped walking robot "JINPOONG" is developed to be able to walk in the field which is use to detection, surveillance, reconnaissance, security, and assistance. It can move, carry the luggage of 60kg or more and walk at the uneven terrain such as gravel road and slope of 15 degrees or more. By adjusting the length of the leg caused by the ground reaction force and body posture balance control to the sagittal and lateral plane it is possible to walk stably on the uneven terrain. In this paper, we describe a method for the stable walk on the uneven terrain of JINPOONG and show experimental results about varied terrain.

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