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English:Development of a 20-M-Long Giacometti Arm with Balloon Body Based on Kinematic Model with Air Resistance 
Japanese: 武市 将, 鈴森 康一, 遠藤 玄, 難波江 裕之.  
English: Masashi Takeichi, Koichi Suzumori, Gen Endo, Hiroyuki Nabae.  
Language English 
Journal/Book name
English:Proceedings of 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems 
Volume, Number, Page         pp. 2710-2716
Published date Sept. 24, 2017 
Conference name
English:2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017) 
Conference site
English:Vancouver, BC 
Official URL https://doi.org/10.1109/IROS.2017.8206097
DOI https://doi.org/10.1109/IROS.2017.8206097
Abstract As a part of our research on several different types of Giacometti robots, a 20-m-long, considerably light, and simple robot arm, referred to as the Giacometti arm, is developed in this study. Even though the Giacometti arm is not suitable for precise positioning, rapid motion, and high load capacity, which are the aspects most conventional robots focus on, it is designed for extremely specific purposes such as the inspection of otherwise unreachable regions using a small camera at the arm’s tip. In addition, it is designed to be essentially safe even if it falls down or hits an object. This aspect is realized using helium-filled balloon bodies and thin pneumatic muscles. We designed, developed, and tested a prototype of a 7-m-long Giacometti arm in a previous study [3]. In this study, we designed another type of Giacometti arm. This arm is 20-m-long, weighs 940 g, and has 20 degrees of freedom. To realize this long arm, we created a kinematic model of the 20-m-long Giacometti arm, factoring in the air resistance. We verified the model using the arm, and its utility was confirmed at a mock-up facility.
Award IEEE/RSJ IROS 2017 Best Paper Award on Safety Security and Rescue Robotics in memory of Motohiro Kisoi

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