Development of quadruped walking robot with the mission of mine detection and removal-proposal of shape-feedback master-slave arm

S. Hirose, K. Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)

Abstract

Proposes a quadruped walking robot which performs mine detection and removal tasks. Because there are many personnel mines remaining from wars, it is desirable to provide a safe, inexpensive tool which civilians can use to remove these mines. The robot has a tool changing system on its back, so by utilizing the legs as manipulation arms and connecting various tools to the foot, it can perform mine detection and removal tasks. For these tasks, we developed the shape-feedback master-slave arm as a kind of basic technology. When a contact force is applied to the slave arm, the shape of the slave is transmitted to the master arm. We can estimate the force from this shape. We discuss the basic design concepts of the robot system and the shape-feedback controlled gripper.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1713-1718
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1 Jan 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 16 May 199820 May 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period16/05/9820/05/98

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Hirose, S., & Kato, K. (1998). Development of quadruped walking robot with the mission of mine detection and removal-proposal of shape-feedback master-slave arm. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1713-1718). [677410] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677410