Development of Detachable Teleoperation Gripper for a Walking Robot

Abstract

We developed an inexpensive, robust Shape Feedback Master Slave (M-S) arm for use with the demining robot TITAN-IX. Conventional M-S arms, while important elements of such systems, are difficult to use in unpredictable environments such as minefields due to the largely unknown control parameters. The shape-feedback M-S gripper, called SPADE GRIPPER, used for detecting and removing landmines, consists of 3 unilateral position controls without bilateral force control and works stably in environments where control parameters may be unclear. We confirmed the feasibility of the gripper's mechanical design and operating principles through a series of experiments.