Development of the quadruped walking robot, "TITAN-IX"

摘要

This paper proposes a quadruped-walking robot that performs the humanitarian mine detection and removal tasks. We (1998) have proposed the concept of humanitarian demining robot system. We performed the basic experiments on the first prototype VK-I using the modified quadruped walking robot, TITAN-VIII. After these experiments, we refined our concept. The new robot has a tool (end-effector) changing system on its back, so by utilizing the legs as manipulation arms and connecting various tools to the foot, it can perform mine detection and removal tasks. To accomplish these tasks, we developed the various end effectors that can be attached to the working leg. In this paper we discuss the advance of the study of the robot system VK-II and introduce the new walking robot called TITAN-IX to be applied to the new VK-II. robot system.