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

Author

Tadokoro, Satoshi ; Verhoeven, Richard ; Hiller, Manfred ; Takamori, Toshi

Author_Institution

Dept. of Comput. & Syst. Eng., Kobe Univ., Japan

Volume

2

fYear

1999

fDate

1999

Firstpage

1222

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

Keywords

civil engineering; disasters; earthquakes; emergency services; manipulators; telerobotics; debris transfer; identification algorithm; identification error analysis; large-scale urban earthquakes; measurement points; multiple cables; parallel robot; portable parallel manipulator; rescue robot; robotic facilities; search robot; unstructured environments; Cables; Cities and towns; Earthquakes; Floors; Intelligent robots; Large-scale systems; Manipulators; Parallel robots; Seismic measurements; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.812846

Filename

812846