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

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

doi:10.1080/01691864.2019.1697751

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

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

Tough Cyberphysical AI Research Center (TCPAI)

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	119-131
Number of pages	13
Journal	Advanced Robotics
Volume	34
Issue number	2
DOIs	https://doi.org/10.1080/01691864.2019.1697751
Publication status	Published - 2020 Jan 17

Keywords

Disaster robotics
inspection
mobile manipulator
robot contest

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Takemori, T., Miyake, M., Hirai, T., Wang, X., Fukao, Y., Adachi, M., Yamaguchi, K., Tanishige, S., Nomura, Y., Matsuno, F., Fujimoto, T., Nomura, A., Tetsui, H., Watanabe, M., & Tadakuma, K. (2020). Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018. Advanced Robotics, 34(2), 119-131. https://doi.org/10.1080/01691864.2019.1697751

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abstract = "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.",

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

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Takemori, T, Miyake, M, Hirai, T, Wang, X, Fukao, Y, Adachi, M, Yamaguchi, K, Tanishige, S, Nomura, Y, Matsuno, F, Fujimoto, T, Nomura, A, Tetsui, H, Watanabe, M & Tadakuma, K 2020, 'Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018', Advanced Robotics, vol. 34, no. 2, pp. 119-131. https://doi.org/10.1080/01691864.2019.1697751

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AU - Tanishige, Suomi

AU - Nomura, Yusuke

AU - Matsuno, Fumitoshi

AU - Fujimoto, Toshiaki

AU - Nomura, Akito

AU - Tetsui, Hikaru

AU - Watanabe, Masahiro

AU - Tadakuma, Kenjiro

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

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Keywords

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