Title :
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
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;
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
DOI :
10.1109/IROS.1999.812846
