Development of detachable tele-operation Gripper for the walking robot

Author

Suganuma, Shinichi ; Ogata, Masaru ; Takita, Kensuke ; Hirose, Shigeo

Author_Institution

Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3390

Abstract

This paper introduces a novel Shape Feedback Master Slave (M-S) arm system, which is inexpensive and robust to be equipped in the demining robot "TITAN-IX". A M-S arm system is an important element. However, it is very difficult to use the conventional M-S arm system into unpredictable environments such as a minefield, because the control parameters to adapt the environment are mostly unknown. The newly introduced Shape Feedback M-S Gripper (SPADE GRIPPER) for detecting and removing mines is composed of three unilateral position controls without bilateral force control, can work stably in such an unknown environment. The mechanical design and the operation principle of SPADE GRIPPER and several experiments are performed to examine its validities.

Keywords

feedback; force control; grippers; legged locomotion; position control; telerobotics; SPADE GRIPPER; TITAN-IX demining robot; bilateral force control; control parameters; detachable teleoperation gripper; mechanical design; mine removal; shape feedback M-S gripper; shape feedback master slave arm system; spade gripper; unilateral position controls; walking robot; Control systems; Force control; Force feedback; Grippers; Legged locomotion; Master-slave; Position control; Robots; Robustness; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249680

Filename

1249680