Portable parallel manipulator for search and rescue at large-scale urban earthquakes and an identification algorithm for the installation in unstructured environments

Satoshi Tadokoro, Richard Verhoeven, Manfred Hiller, Toshi Takamori

Research output: Contribution to conferencePaperpeer-review

53 Citations (Scopus)

Abstract

Essential points in robotic facilities for search and rescue at large-scale urban earthquakes were investigated. A parallel robot driven by multiple cables is proposed for transfer of debris. It is portable and is assembled rapidly in destroyed houses. An identification algorithm of mechanism parameters peculiar to this portable robot was studied. On the basis of identification error analysis, optimal number of measurement points and the size of an identification reference frame were obtained.

Original languageEnglish
Pages1222-1227
Number of pages6
Publication statusPublished - 1999 Dec 1
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 1999 Oct 171999 Oct 21

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period99/10/1799/10/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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