Integrated Limb Mechanism Robot ASTERISK
Tomohito Takubo*, Tatsuo Arai*, Kenji Inoue*, Hikaru Ochi*,
Takeshi Konishi*, Taisuke Tsurutani*, Yasuo Hayashibara**,
and Eiji Koyanagi**
*Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan
**Department of Robotics and Bio-Mechatronics, Toin University of Yokohama, 1614 Kurogane-cho, Aoba-ku, Yokohama 225-8502, Japan
The Integrated Limb Mechanism (ILM) concept deals with a dual arm-leg integrating the leg for locomotion and the arm for manipulation, while it enables a robot, for example, to operate flexibly in different work and situations, dual use requires that components are compact and mobile. Integrated software controlling the leg and arm is also required for implementing the actual robot. The ILM robot ASTEIRSK has six limbs arranged radially around the center to enable locomotion and manipulation capabilities omnidirectionally. ASTERISK features upper and lower symmetrical body and workability. We propose a design for the ILM and develop a small robot I/O controlling robot motion and monitoring sensors. In multimodal performance, ASTERISK uses omnidirectional drive control to walk hexapodally alternating tripod gait and creeping for restricted mobility. The new transportation way of hexapod walking style on a grid ceiling is proposed. Experiments deal with the detection of heat sources using infrared sensors and remote control to handle an object using two arms.
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