カトウ　ケイスケ   KATO Keisuke   加藤　恵輔    所属   明治大学  理工学部    職種   専任准教授
発表年月日	2013/07/03
発表テーマ	Development of the quadruped walking robot, "TITAN-IX"
会議名	IECON2000
主催者	IEEE Industrial Electronics Society
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	名古屋
発表者・共同発表者	K.Kato and S.Hirose
概要	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.