Quadruped walking robot for steep slope operation: TITAN XI
Figures and Photos
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Prototype
The world's largest quadrupedal robot weighs 7 tons and has legs 3.7 meters long
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Slope walking by wire traction
Suspended by two force-controlled wires, the robot can move in all directions
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Drilling task
Installation of reinforcement bolts in the concrete covering the slope
Summary
In Japan, where there are many mountainous areas, many slopes are constructed by cutting down the sides of mountains to form slopes to connect roads and railroads. These slopes require work to reinforce the slope and investigate the stability of the slope in order to prevent cliff collapse. However, conventional work is often done manually, which is inefficient and dangerous, so automation of this work is strongly desired. In order to solve this problem, we have developed a quadrupedal robot for slope operation in collaboration with a company (Fig. 1). The robot we developed has the following features.
- The developed terrain-adaptive walking enables the robot to move without damaging the concrete frame on the slope.
- Suspended by two force-controlled wires, the robot can move in all directions, even on complex slopes (Fig.2).
- The legs are used not only to walk, but also as a mechanism to control the drill posture while working.
- The world's largest quadrupedal robot weighs 7 tons and has legs 3.7 meters long
References
- 土居隆宏, 程島竜一, 福田靖, 広瀬茂男, 岡本俊仁, 森純一：“4 足歩行型法面作業ロボットTITAN XI の開発 -脚のたわみ誤差を補償した歩行動作-”，日本設計工学会誌, Vol.46, No.2, pp.94-101, 2011.
- Ryuichi Hodoshima, Takahiro Doi, Yasushi Fukuda, Shigeo Hirose, Toshihito Okamoto, Junichi Mori: “Development of Quadruped Walking Robot TITAN XI for Steep Slope Operation- Step Over Gait to Avoid Concrete Frames on Steep Slopes-,” Journal of Robotics and Mechatronics, Vol.19, No.1, pp.13-26, 2007.
- Takahiro Doi, Ryuichi Hodoshima, Yasushi Fukuda, Shigeo Hirose, Toshihito Okamoto, Junichi Mori: “Development of a Quadruped Walking Robot to Work on Steep Slopes, TITAN XI (Walking motion with compensation for compliance),” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3413-3418, 2005.
- 程島竜一, 土居隆宏, 福田靖, 広瀬茂男, 岡本俊仁, 森純一：“4 足歩行型法面作業ロボットTITAN XI の開発 -基本設計と脚機構の動作実験-”，日本ロボット学会誌, Vol.23, No.7, pp.847-857, 2005.
- Ryuichi Hodoshima, Takahiro Doi, Yasushi Fukuda, Shigeo Hirose, Toshihito Okamoto, Junichi Mori: “Development of TITAN XI: a Quadruped Walking Robot to Work on Slopes -Design of system and mechanism-,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.792-797, 2004.
