Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018

Takemori, Tatsuya; Miyake, Masato; Hirai, Tatsuya; Wang, Xixun; Fukao, Yuto; Adachi, Mau; Yamaguchi, Kaiyo; Tanishige, Suomi; Nomura, Yusuke; Matsuno, Fumitoshi; Fujimoto, Toshiaki; Nomura, Akito; Tetsui, Hikaru; Watanabe, Masahiro; Tadakuma, Kenjiro

doi:10.1080/01691864.2019.1697751

Cited by 19 publications

(7 citation statements)

References 19 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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“…Crawler mobile robots can move at a relatively high speed with stability on rugged ground such as steps and slopes. Takemori [3] proposed a multi-functional tracked rescue robot, FUHGA2. The main track covers the main body and carries four sub-tracks, with longer six-axis arms and parallel grippers at the top, giving it high dexterity, maneuverability and high search capability.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Modeling and Structural Optimization of Four-Track Twin-Rocker Rescue Robot

Wang

et al. 2022

Machines

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In order to achieve the best obstacle surmounting performance of a mobile robot in the rescue environment, a four-track twin-rocker bionic rescue robot with an inner and outer concentric shaft was designed in this paper. From the viewpoint of dynamics, the motion process of the mass center of the robot when climbing steps forward and backward was studied. The maximum obstacle height of the robot was calculated. The relationship between the elevation angle of the car body, the swing angle of the rocker arm and the height of the steps was analyzed by simulation. The simulation results show that the maximum forward and reverse obstacle crossing heights were 92.99 mm and 155.82 mm, respectively. Obstacle climbing experiments of the designed robot prototype were carried out. It was found that the measured maximum height of the step was 95 mm, and the measured maximum height of the reverse obstacle was 165 mm. Finally, bionic particle swarm optimization was used to optimize the structural parameters of the rocker arm with an optimal length of 315.2 mm. The study of this paper can be referenced for the design and analysis of obstacle surmounting rescue robots with similar structures.

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“…The USAR robots work in the dangerous environments that are caused by natural disasters [1,3] or the decommissioning of the nuclear facilities. Such as floods [4], fires [5], earthquakes [6], nuclear accidents and the decommissioning of the nuclear facilities [7][8][9][10][11][12]. Their duties include monitoring, information sharing, searching and rescuing [13,14].…”

Section: Introductionmentioning

confidence: 99%

“…In order to perform coordinated tasks, operate remotely and share information, a communication network in the robot swarm has to be built [9,10,15,23,24]. Communication malfunctions might occur due to damages of communication devices when working in a radioactive environment.…”

Section: Introductionmentioning

confidence: 99%

“…Delivery supplies and retrieving dangerous samples such as radioactive debris are feasible works for USAR robots [10,30]. Robot logistics including automated storage and retrieval system [34], which is inside the warehouse, and drone-assisted parcel delivery service, which is outside the warehouse, is of great concern and is a valuable technology for the USAR robot.…”

Section: Introductionmentioning

confidence: 99%

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Allocation of Radiation Shielding Boards to Protect the Urban Search and Rescue Robots from Malfunctioning in the Radioactive Environments Arising from Decommissioning of the Nuclear Facility

2020

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A group of Urban Search and Rescue (USAR) Unmanned Ground Vehicles (UGVs) works in the city’s dangerous places that are caused by natural disasters or the decommissioning of nuclear facilities such as the nuclear power plant. Consider the multi sensor platform that the USAR UGV is equipped with, protecting the sensors from the danger that dwells in the working environments is highly related to the success of the USAR mission. The radioactive working environments due to the diffusion of the radioactive materials during the decommissioning of the nuclear facilities are proposed in this work. Radiation shielding boards are used to protect the sensors by installing them on the UGV. Generally, the more shielding boards installed on the UGV, the lower the probability of the sensor malfunctioning. With a large number of UGVs that are used in missions, a large number of shielding boards are needed. Considering the cost of the boards, a conflict between the finite budget and the best protection for the UGV swarm occurs. Due to differences in environments and working times, an asymmetric allocation of shielding boards might protect the UGV swarm better than that by allocating evenly. To minimize the absorption radiation doses, two methods including competitive equilibrium analysis and integer linear programming are proposed. The performances that result from the allocation of the shielding boards by two methods with different budgets are studied.

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Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018

Cited by 19 publications

References 19 publications

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

HeterBot: A heterogeneous mobile manipulation robot for versatile operation

Obstacle Modeling and Structural Optimization of Four-Track Twin-Rocker Rescue Robot

Allocation of Radiation Shielding Boards to Protect the Urban Search and Rescue Robots from Malfunctioning in the Radioactive Environments Arising from Decommissioning of the Nuclear Facility

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