Quadruped Walking Robot Centered Demining System - Development of TITAN-IX and its Operation-

Author

Hirose, Shigeo ; Yokota, Shingo ; Torii, Akinori ; Ogata, Masaru ; Suganuma, Shin´ichi ; Takita, Kensuke ; Kato, Keisuke

Author_Institution

Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku Tokyo, 152-8552, Japan E-mail: hirose@robotics.mes.titech.ac.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

1284

Lastpage

1290

Abstract

This paper presents a quadruped-walking robot for demining mission. Robot that can adapt any landscape and handle various tasks by utilizing the legs as manipulator is useful one to ensure the safety of local residents and people engaged in the demining mission. However, it is known that mine removing by human workers is progressing slowly because of the risk of their lives. The proposed robot has various features, such as 1) much wider working area than conventional walking robots, 2) unique drive mechanism, 3) high modularity and cooling mechanism and so on. It is expected to give the workers safety to accelerate the demining.

Keywords

demining; landmine; master-slave; mine detection; mine removal; quadruped robot; walking machine; Acceleration; Humans; Landmine detection; Leg; Legged locomotion; Manipulators; Paper technology; Robot sensing systems; Robotics and automation; Safety; demining; landmine; master-slave; mine detection; mine removal; quadruped robot; walking machine;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570292

Filename

1570292