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History of Robotics Research and Development of Japan2004LocomotionLimb mechanism robot ASTERISK

Tatsuo AraiGraduate School of Engineering Science, Osaka University
Insects have 6 legs which are generally used to walk with. In case of need, 2 of them can also be used as arms to pick objects. Therefore we call their legs, which can also be used as arms, ''limbs''. The concept of Limb Mechanism Robot is motivated from the concept of limbs. The mechanism enables the 2 following things.
  1. Efficient operation altering limbs properly for manipulation and navigation tasks according to the situations.
  2. Miniaturization of the component by integrating the two functions into one mechanism.
We have developed a new Limb Mechanism Robot named "ASTERISK". ASTERISK has 6 limbs which each has 4DOF. By radially arranging limbs in six directions from the center of the body, ASTERISK achieves both even work space and mobility in every direction.
腕脚統合型ロボットASTERISK
Limb mechanism robot ASTERISK
     

Movies

photo
locomotion of limb mechanism robot on rough terrain

Correspondence papers

Tomohito Takubo, Takenobu Yoshioka, Tatsuo Arai, Yasushi Mae and Kenichi Ohara：Leg-Wheel Hybrid Locomotion for Multi-Legged Robot

in Trans. of the Japan Society of Mechanical Engineers(C), Vol.75, No.759, pp.144-152, 2012.(in Japanese)

Yasushi Mae, Yuuya Takahashi, Tatsuo Arai, Kenji Inoue and Noriho Koyachi：Omni-directional Locomotion of Robots with Limb Mechanism

in Journal of Robotics Society of Japan Vol.22, No.3, pp.329-335, 2004.(in Japanese)(https://www.jstage.jst.go.jp/article/jrsj1983/22/3/22_3_329/_article/)

Noriho Koyachi, Hironori Adachi and Tatsuo Arai：Limb Mechanism for Integration of Leg & Arm - Kinematic Analysis of Leg Mechanism Transformable Into Arm -

in Journal of Robotics Society of Japan Vol. 14, No. 7, pp. 968-976, 1996.(in Japanese)(https://www.jstage.jst.go.jp/article/jrsj1983/14/7/14_7_968/_article/)

Related papers

[1] Tomohito Takubo, Kenji Tsukamoto, Keishi Kominami, Kenichi Ohara, Yasushi Mae and Tatsuo Arai, "Obstacle Avoidance for Multi-legged Robot Using Virtual Impedance Model," in Trans. of the Japan Society of Mechanical Engineers(C), Vol.79, No.797, pp. 1-16, 2013.(in Japanese)
[2] Tomohito TAKUBO, Takuya KAMINADE, Yasushi MAE, Tatsuo ARAI and Kenichi OHARA, "High Resolution Grid Map with Normal Distribution Transform Algorithm," in Trans. of the Japan Society of Mechanical Engineers(C), Vol.78, No.793, pp. 84-98, 2012.(in Japanese)
(https://www.jstage.jst.go.jp/article/kikaic/78/793/78_3186/_article/)
[3] Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, and Tatsuo Arai: "Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK", Advanced Robotics, Vol. 25, No. 1-2, pp. 75-91, 2011.
(http://www.tandfonline.com/doi/abs/10.1163/016918610X538499#.UkgALMbIYms)
[4] Kenji Inoue, Shota Fujii, Tomohito Takubo, Yasushi Mae, Tatsuo Arai: "Ladder Climbing Method for the Limb Mechanism Robot ASTERISK", Advanced Robotics, Vol. 24, No. 11, pp. 1557-1576, Aug. 2010.
(http://www.tandfonline.com/doi/abs/10.1163/016918610X512596#.UkgAZ8bIYms)
[5] Kenji Kamikawa, Tatsuo Arai, Yasushi Mae, Tomohito Takubo and Kenji Inoue, "Expansion of Movable Area of Multi Legged Robot by Rotational Gait," in Journal of the Robotics Society of Japan, Vol.28, No.2, pp.231-240, 2010.(in Japanese)
(https://www.jstage.jst.go.jp/article/jrsj/28/2/28_2_231/_article/)
[6] Tomohito Takubo, Takenobu Yoshioka, Tatsuo Arai, Yasushi Mae and Kenichi Ohara, "Leg-Wheel Hybrid Locomotion for Multi-Legged Robot," in Trans. of the Japan Society of Mechanical Engineers(C), Vol.75, No.759, pp.144-152, 2012.(in Japanese)
(http://ci.nii.ac.jp/naid/110007482769/en/)
[7] Takenobu Yoshioka, Tomohito Takubo, Tatsuo Arai, Kenji Inoue: "Hybrid Locomotion of Leg-Wheel ASTERISK-H", Journal of Robotics and Mechatronics, Vol. 20, No. 3, pp. 403-412, Jun. 2008.
(http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002000030007.xml)
[8] Tomohito Takubo, Tatsuo Arai, Kenji Inoue, Hikaru Ochi, Takeshi Konishi, Taisuke Tsurutani, Yasuo Hayashibara, Eiji Koyanagi: "Integrated Limb Mechanism Robot ASERISK", Journal of Robotics and Mechatronics, Vol. 18, No. 2, pp. 203-214, Apr. 2006.
(http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT001800020012.xml)
[9] Noriho Koyachi, Hironori Adachi, Tatsuo Arai, Makoto Izumi, Takeshi Hirose, Naofumi Senjo and Ryoji Murata, "Walk and Manipulation by a Hexapod with Integrated Limb Mechanism of Leg & Arm -Configuration Change of Body and Limbs for Dual Arm Manipulation-," in Journal of the Robotics Society of Japan, Vol.22, No.3, pp.411-421, 2010.(in Japanese)
(https://www.jstage.jst.go.jp/article/jrsj1983/22/3/22_3_411/_article/)
[10] Yasushi Mae, Yuuya Takahashi, Tatsuo Arai, Kenji Inoue and Noriho Koyachi, "Omni-directional Locomotion of Robots with Limb Mechanism," in Journal of Robotics Society of Japan Vol.22, No.3, pp.329-335, 2004.(in Japanese)
(https://www.jstage.jst.go.jp/article/jrsj1983/22/3/22_3_329/_article/)
[11] Y.Mae, T. Arai, and K. Inoue "Error Analysis of Multi-Legged Robots for Dead Reckoning", Journal of Robotics and Mechatronics, Vol. 14, No. 2, pp. 170-176, 2002.
[12] Noriho Koyachi, Hironori Adachi and Tatsuo Arai, "Development of a Hexapod with Integrated Limb Mechanism of Leg & Arm : MELMANTIS-1 : Geometrical design for leg-arm transformation and object handling," in Journal of Robotics Society of Japan Vol.21, No.6, pp.682-689, 2003.(in Japanese)
(https://www.jstage.jst.go.jp/article/jrsj1983/21/6/21_6_682/_article/)
[13] YASUSHI MAE, TATSUO ARAI, KENJI INOUE and KUNIO MIYAWAKI: "Application of Limb Mechanism Robot to Rescue Tasks", Advanced Robotics: Cutting Edge of Robotics in Japan 2002、Disaster Response Robotics, Vol. 16, No. 6, pp. 529-532, Oct. 2002.
(http://www.tandfonline.com/doi/abs/10.1163/156855302320535890#.UkgH1sbIYms)
[14] Noriho Koyachi, Hironori Adachi and Tatsuo Arai, "Limb Mechanism for Integration of Leg & Arm - Kinematic Analysis of Leg Mechanism Transformable Into Arm -," in Journal of Robotics Society of Japan Vol. 14, No. 7, pp. 968-976, 1996.(in Japanese)
(https://www.jstage.jst.go.jp/article/jrsj1983/14/7/14_7_968/_article/)

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