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Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and Its Launching Winch)

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Field and Service Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 62))

Abstract

This paper introduces a newconcept of “tethered detachable hook (TDH)” and its launching winch. TDH system is the device which will be mounted on a mobile robot and enhances its traversability over extremely hostile terrain by launching detachable hook to nearby objects, producing large traction force by the tether and detaching/recovering the hook to the launcher again. In this paper the authors first of all introduce several prototype models of the TDH.We then discuss the design of latest model which features pneumatic detaching mechanism, the pneumatic launcher and the reel mechanism having three motion states; active rotation, free rotation and braking. Finally, the result of several experiments of constructed TDH model will be explained.

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Author information

Authors and Affiliations

  1. Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo, 152-8552, Japan

    Nobukazu Asano & Shigeo Hirose

  2. Toshiba Corporation, 1, KomukaiToshiba-cho, Saiwai-ku, Kawasaki-shi, 212-8582, Japan

    Hideichi Nakamoto

  3. KinderHeim Corporation, 335, kaminakazato-cho, Isogo-ku, Yokohama-shi, 235-0045, Japan

    Tetsuo Hagiwara

Authors
  1. Nobukazu Asano
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  2. Hideichi Nakamoto
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  3. Tetsuo Hagiwara
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  4. Shigeo Hirose
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Editor information

Editors and Affiliations

  1. CalTech Jet Propulsion Laboratory, Mail Stop 198-235, 4800 Oak Grove Drive, 91109, Pasadena, CA, USA

    Andrew Howard

  2. MIT, 77 Massachusetts Ave, Room 3-435a, 02139, Cambridge, MA, USA

    Karl Iagnemma

  3. National Robotics Engineering Center, Robotics Institute, Carnegie Mellon University, 10 Fortieth Street, 15201, Pittsburgh, PA, USA

    Alonzo Kelly

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© 2010 Springer-Verlag Berlin Heidelberg

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Asano, N., Nakamoto, H., Hagiwara, T., Hirose, S. (2010). Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and Its Launching Winch). In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_3

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  • DOI: https://doi.org/10.1007/978-3-642-13408-1_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-13407-4

  • Online ISBN: 978-3-642-13408-1

  • eBook Packages: EngineeringEngineering (R0)

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