This paper proposes a quadruped-walking robot that performs "humanitarian demining" tasks. Because there are many anti-personnel landmines remaining from wars, it is desirable to provide a safe, inexpensive tool that civilians can use to remove these landmines. We had already proposed the basic concept of the humanitarian demining robot system for four years. And we have had several experiments of the operation using the first prototype robot system, VK-I. To accomplish the tasks, we developed the several end effectors that can be attached to the working leg. After these basic experiments, we consider to modify the concept, phases of the tasks and to develop next prototype robot system that will have better performance. The robot will be given a "foot-end-effecter changing system" on its back, so by utilizing the legs as manipulation arms and connecting various tools (foot-end-effecters) to the foot of the working leg, it can perform all of the procedure of the demining tasks. We will discuss the advance of our study and introduce next concept called VK-II in this paper.
|出版物ステータス||Published - 1 12 2000|
|イベント||2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan|
継続期間: 31 10 2000 → 5 11 2000
|Conference||2000 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|期間||31/10/00 → 5/11/00|