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

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4 Author(s)
S. Tadokoro ; Dept. of Comput. & Syst. Eng., Kobe Univ., Japan ; R. Verhoeven ; M. Hiller ; T. Takamori

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

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

1999