Development of a prototype electrically-driven four-arm four-flipper disaster response robot OCTOPUS

Kamezaki, Mitsuhiro; Chen, Kui; Azuma, Kohga; Katano, Takahiro; Kaneko, Taisei; Ishida, Tatsuzo; Nakayama, Masayuki; Seki, Masatoshi; Ichiryu, Ken; Sugano, Shigeki

doi:10.1109/ccta.2017.8062593

Cited by 3 publications

(1 citation statement)

References 8 publications

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“…Manipulation is another important aspect of mobile manipulation robots. The most widely seen are single-arm [5,11] and anthropomorphic dual-arm design [12,13], and a few have been equipped with more robotic arms [14].…”

Section: Introductionmentioning

confidence: 99%

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Guo

et al. 2022

IET Cyber-Syst and Robotics

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This study presents the overall architecture of HeterBot, a heterogeneous mobile manipulation robot developed in our lab, which is designed for versatile operation in hazardous environments. The most significant feature of HeterBot is the heterogeneous design created by adopting the idea of 'big arm + small arm' and 'big car + mini car'. This combination has the advantage of functional complementation, which achieves performance promotion in both locomotion and manipulation capabilities, making HeterBot distinguished from other mobile manipulation robots. Besides, multiple novel technologies are integrated into HeterBot to expand its versatility and ease of use, including Virtual Robot Experimentation Platform-based teleoperation, reconfigurable end effectors, laseraided grasping, and manipulation with customised tools. Experimental results validate the effectiveness of HeterBot in various locomotion and manipulation tasks. HeterBot displays huge potential in future applications, such as searching and rescue.

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Section: Introductionmentioning

confidence: 99%

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Guo

et al. 2022

IET Cyber-Syst and Robotics

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A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

Chen

Kamezaki

Katano

et al. 2017

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

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A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work

et al. 2021

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Disaster response robots are expected to perform complicated tasks such as traveling over unstable terrain, climbing slippery steps, and removing heavy debris. To complete such tasks safely, the robots must obtain not only visual-perceptual information (VPI) such as surface shape but also the haptic-perceptual information (HPI) such as surface friction of objects in the environments. VPI can be obtained from laser sensors and cameras. In contrast, HPI can be basically obtained from only the results of physical interaction with the environments, e.g., reaction force and deformation. However, current robots do not have a function to estimate the HPI. In this study, we propose a framework to estimate such physically interactive parameters (PIPs), including hardness, friction, and weight, which are vital parameters for safe robot-environment interaction. For effective estimation, we define the ground (GGM) and object groping modes (OGM). The endpoint of the robot arm, which has a force sensor, actively touches, pushes, rubs, and lifts objects in the environment with a hybrid position/force control, and three kinds of PIPs are estimated from the measured reaction force and displacement of the arm endpoint. The robot finally judges the accident risk based on estimated PIPs, e.g., safe, attentional, or dangerous. We prepared environments that had the same surface shape but different hardness, friction, and weight. The experimental results indicated that the proposed framework could estimate PIPs adequately and was useful to judge the risk and safely plan tasks.

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Development of a prototype electrically-driven four-arm four-flipper disaster response robot OCTOPUS

Cited by 3 publications

References 8 publications

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work

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