2A1-J06 Development of Casting Hook with Tele-operated Releasing Function : Consideration of Electric and Pneumatic Tele-driving Mechanism

摘要

Tethers improve the mobility of robots on the irregular terrains. To realize this moving system, we developed the casting hook that is connected to the tether, and can be anchored to some object around the robot. It has only one claw differently from foregoing hook for the purpose of reducing weight and extending the length of claw. It also needs to be released after being used, so we equipped two types of locking mechanism, electric and pneumatic type. We did experiments of its casting, anchoring, and releasing, and confirmed their performance.