TY - GEN
T1 - HubRobo
T2 - 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
AU - Uno, Kentaro
AU - Takada, Naomasa
AU - Okawara, Taku
AU - Haji, Keigo
AU - Candalot, Arthur
AU - Ribeiro, Warley F.R.
AU - Nagaoka, Kenji
AU - Yoshida, Kazuya
N1 - Funding Information:
This work is supported by JSPS KAKENHI under Grant No. 19J20685. K. Uno, N. Takada, T. Okawara, K. Haji, A. Candalot, W. F. R. Ribeiro, and K. Yoshida are with the Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai 980–8579, Japan (phone: 022-795-6993; fax: 022-795-6993; e-mail: {unoken, naomasa.takada.t2, okawara.taku.t3, keigo.haji.q3, candalot.arthur.s5, warley}@dc.tohoku.ac.jp, and yoshida.astro@tohoku.ac.jp K. Nagaoka is with the Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Sensuicho 1–1, Tobata-ku, Kitakyushu, Fukuoka 804–8550, Japan (e-mail: nagaoka@ieee.org)
Publisher Copyright:
©2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This study presents the design and sequential control strategies of a novel lightweight climbing robot. The quadruped robot with a left-right and front-hind symmetric insect-type configuration has three degrees of freedom (3-DOF) actuated joints in each limb, a 3-DOF passive compliant spine gripper at each foot, and an actuator to open/close the gripper. First, we present the mechanical design and minimal hardware integration of the robot, which have helped successfully reduce the entire mass of the robot to 3 kg with a base height of 0.16 m. Next, a sequential strategy to process stable climbing locomotion is introduced. The implemented software architecture that realizes climbing motion is described. With the successful result of a teleoperation experiment on an indoor test field simulating the Martian uneven slalom (local max. inclination: 45), we proved that the proposed sequential control strategy enables the robot to stably climb challenging terrain.
AB - This study presents the design and sequential control strategies of a novel lightweight climbing robot. The quadruped robot with a left-right and front-hind symmetric insect-type configuration has three degrees of freedom (3-DOF) actuated joints in each limb, a 3-DOF passive compliant spine gripper at each foot, and an actuator to open/close the gripper. First, we present the mechanical design and minimal hardware integration of the robot, which have helped successfully reduce the entire mass of the robot to 3 kg with a base height of 0.16 m. Next, a sequential strategy to process stable climbing locomotion is introduced. The implemented software architecture that realizes climbing motion is described. With the successful result of a teleoperation experiment on an indoor test field simulating the Martian uneven slalom (local max. inclination: 45), we proved that the proposed sequential control strategy enables the robot to stably climb challenging terrain.
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U2 - 10.1109/HUMANOIDS47582.2021.9555799
DO - 10.1109/HUMANOIDS47582.2021.9555799
M3 - Conference contribution
AN - SCOPUS:85115276832
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 209
EP - 215
BT - 2020 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
A2 - Asfour, Tamim
A2 - Lee, Dongheui
A2 - Katja, Mombaur
A2 - Yamane, Katsu
A2 - Harada, Kensuke
A2 - Righetti, Ludovic
A2 - Tsagarakis, Nikos
A2 - Sugihara, Tomomichi
PB - IEEE Computer Society
Y2 - 19 July 2021 through 21 July 2021
ER -