Development of working six-legged robots with soft wrists and four-fingered hands

2016 Fiscal Year Final Research Report

• Project/Area Number: 26420193
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Yamagata University
• Principal Investigator: Inoue Kenji 山形大学, 大学院理工学研究科, 教授 (40203228)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 6脚ロボット / 多指ハンド / 歩行 / マニピュレーション / 遠隔操作 / 超音波非破壊検査

Outline of Final Research Achievements

A working six-legged robot with soft wrists and four-fingered hands is developed. Taking advantages of the soft wrists and the fingers radially opening and closing, the following functions are realized: handling small and long objects with one or two hands, six-leg walking with the hands opened, upright four-leg walking with the hands opened, moving on rough terrain by grasping bumps with the hands, moving on ladders by grasping their supports and rungs with the hands, manipulation using two legs which can be regarded as arms with hanging from structures using other four legs, and gesture interface for teleoperation. The robot is applicable to ultrasonic nondestructive inspection.

Free Research Field

ロボット工学