Integrated Limb Mechanism Robot ASTERISK

Tomohito Takubo; Tatsuo Arai; Kenji Inoue; Hikaru Ochi; Takeshi Konishi; Taisuke Tsurutani; Yasuo Hayashibara; Eiji Koyanagi

doi:10.20965/jrm.2006.p0203

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JRM Vol.18 No.2 pp. 203-214

doi: 10.20965/jrm.2006.p0203

(2006)

Paper:

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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

Received:

October 31, 2005

Accepted:

February 3, 2006

Published:

April 20, 2006

Keywords:

hexapod, multileg robot, limb mechanism, integrated locomotion and manipulation, 2005 World Exposition

Abstract

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.

Cite this article as:

T. Takubo, T. Arai, K. Inoue, H. Ochi, T. Konishi, T. Tsurutani, Y. Hayashibara, and E. Koyanagi, “Integrated Limb Mechanism Robot ASTERISK,” J. Robot. Mechatron., Vol.18 No.2, pp. 203-214, 2006.

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References

[1] S. Sugiyama et al., “Quadrupedal Locomotion Subsystem of Prototype Advanced Robot for Nuclear Power Plant Facilities,” Proceedings of IEEE Int. Conf. on Advanced Robotics (’91 ICAR), pp. 326-333, 1991.
[2] K. Hartikainen et al., “Control and Software Structures of a Hydraulic Six-Legged Machine Designed for Locomotion in Natural Environment,” Proceedings of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, pp. 590-596, 1992.
[3] K. Kato, and S. Hirose, “Development of Quardruped Walking Robot, TITAN-IX –Mechanical Design Concept and Application for the Humanitarian Demining Robot–,” Advanced Robotics, 15, 2, pp. 191-204, 2001.
[4] Y. F. Zheng, and Q. Yin, “Coordinating Multilimbed Robot for Generating Large Cartesian Force,” Proceedings of IEEE Int. Conf. on Robotics and Automation, pp. 1653-1658, 1990.
[5] C. Su, and Y. F. Zheng, “Task Decomposition for a Multilimbed Robot to Work in Reachable But Unorientable Space,” IEEE Transaction on Robotics and Automation, Vol.7, No.6, pp. 759-770, 1991.
[6] D. K. Pai, R. A. Barman, and S. K. Ralph, “Platonic Beasts: “A New Family of Multilimbed Robots”,” Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1019-1025, 1994.
[7] N. Koyachi et al., “Control of Walk and Manipulation by A Hexapod with Integrated Limb Mechanism: MELMANTIS-1,” Proceedings of IEEE Int. Conf. on Robotics and Automation, pp. 3553-3558, 2002.
[8] Y. Mae et al., “Application of Limb Mechanism Robot to Rescue Tasks for Knowledge-Sharing among Autonomous Robots,” Advanced Robotics: Cutting Edge of Robotics in Japan 2002, Disaster Response Robotics, Vol.16, No.6, pp. 529-532, 2002.
[9] K. Inoue et al., “Mobile Manipulation of Limbed Robots –Proposal on Mechanism and Control–,” Preprints of IFAC Workshop on Mobile Robot Technology, pp. 104-109, 2001.
[10] R. B. McGhee, and G. I. Iswandhi, “Adaptive Locomotion of a Multilegged Robot Over Rough Terrain,” IEEE Transactions on Systems, Man, and Cybernetics, SMC-9, No.4, pp. 176-182, 1979.
[11] O. Akizono et al., “Development of Walking Robot for Underwater Inspection,” Advanced Robotics 1989-Proceedings of the 4th International Conference on Advanced Robotics, pp. 652-663, 1989.
[12] W. T. Townsend, “MCB-Industrial Robot Feasure Article –The BarretHand grasper–,” Industrial Robot: An International Journal, Vol.27, No.3, pp. 181-188, 2000.
[13] M. Russell, Jr., “Odex I: The First Functionoid,” Robotics Age, pp. 12-18, September/October, 1983.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Sugiyama et al., “Quadrupedal Locomotion Subsystem of Prototype Advanced Robot for Nuclear Power Plant Facilities,” Proceedings of IEEE Int. Conf. on Advanced Robotics (’91 ICAR), pp. 326-333, 1991.

[2] [2] K. Hartikainen et al., “Control and Software Structures of a Hydraulic Six-Legged Machine Designed for Locomotion in Natural Environment,” Proceedings of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, pp. 590-596, 1992.

[3] [3] K. Kato, and S. Hirose, “Development of Quardruped Walking Robot, TITAN-IX –Mechanical Design Concept and Application for the Humanitarian Demining Robot–,” Advanced Robotics, 15, 2, pp. 191-204, 2001.

[4] [4] Y. F. Zheng, and Q. Yin, “Coordinating Multilimbed Robot for Generating Large Cartesian Force,” Proceedings of IEEE Int. Conf. on Robotics and Automation, pp. 1653-1658, 1990.

[5] [5] C. Su, and Y. F. Zheng, “Task Decomposition for a Multilimbed Robot to Work in Reachable But Unorientable Space,” IEEE Transaction on Robotics and Automation, Vol.7, No.6, pp. 759-770, 1991.

[6] [6] D. K. Pai, R. A. Barman, and S. K. Ralph, “Platonic Beasts: “A New Family of Multilimbed Robots”,” Proc. of IEEE Int. Conf. Robotics and Automation, pp. 1019-1025, 1994.

[7] [7] N. Koyachi et al., “Control of Walk and Manipulation by A Hexapod with Integrated Limb Mechanism: MELMANTIS-1,” Proceedings of IEEE Int. Conf. on Robotics and Automation, pp. 3553-3558, 2002.

[8] [8] Y. Mae et al., “Application of Limb Mechanism Robot to Rescue Tasks for Knowledge-Sharing among Autonomous Robots,” Advanced Robotics: Cutting Edge of Robotics in Japan 2002, Disaster Response Robotics, Vol.16, No.6, pp. 529-532, 2002.

[9] [9] K. Inoue et al., “Mobile Manipulation of Limbed Robots –Proposal on Mechanism and Control–,” Preprints of IFAC Workshop on Mobile Robot Technology, pp. 104-109, 2001.

[10] [10] R. B. McGhee, and G. I. Iswandhi, “Adaptive Locomotion of a Multilegged Robot Over Rough Terrain,” IEEE Transactions on Systems, Man, and Cybernetics, SMC-9, No.4, pp. 176-182, 1979.

[11] [11] O. Akizono et al., “Development of Walking Robot for Underwater Inspection,” Advanced Robotics 1989-Proceedings of the 4th International Conference on Advanced Robotics, pp. 652-663, 1989.

[12] [12] W. T. Townsend, “MCB-Industrial Robot Feasure Article –The BarretHand grasper–,” Industrial Robot: An International Journal, Vol.27, No.3, pp. 181-188, 2000.

[13] [13] M. Russell, Jr., “Odex I: The First Functionoid,” Robotics Age, pp. 12-18, September/October, 1983.

Integrated Limb Mechanism Robot ASTERISK

Tomohito Takubo*, Tatsuo Arai*, Kenji Inoue*, Hikaru Ochi*, Takeshi Konishi*, Taisuke Tsurutani*, Yasuo Hayashibara**, and Eiji Koyanagi**

Tomohito Takubo^, Tatsuo Arai^, Kenji Inoue^, Hikaru Ochi^,
Takeshi Konishi^, Taisuke Tsurutani^, Yasuo Hayashibara^,
and Eiji Koyanagi^