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JRM Vol.15 No.5 pp. 501-507
doi: 10.20965/jrm.2003.p0501
(2003)

Paper:

Development of Detachable Teleoperation Gripper for a Walking Robot

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

Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Oo-okayama Meguro-ku, Tokyo 152-8552 Japan JST: Japan Science and Technology Corporation

Received:
April 6, 2003
Accepted:
June 9, 2003
Published:
October 20, 2003
Keywords:
demine, walking robot, master slave
Abstract

We developed an inexpensive, robust Shape Feedback Master Slave (M-S) arm for use with the demining robot TITAN-IX. Conventional M-S arms, while important elements of such systems, are difficult to use in unpredictable environments such as minefields due to the largely unknown control parameters. The shape-feedback M-S gripper, called SPADE GRIPPER, used for detecting and removing landmines, consists of 3 unilateral position controls without bilateral force control and works stably in environments where control parameters may be unclear. We confirmed the feasibility of the gripper’s mechanical design and operating principles through a series of experiments.

Cite this article as:
S. Suganuma, M. Ogata, K. Takita, and S. Hirose, “Development of Detachable Teleoperation Gripper for a Walking Robot,” J. Robot. Mechatron., Vol.15, No.5, pp. 501-507, 2003.
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