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

  • Nobukazu Asano
  • Hideichi Nakamoto
  • Tetsuo Hagiwara
  • Shigeo Hirose
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 62)


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.


Mobile Robot Free Mode Swash Plate Detachable Mechanism Wall Climbing Robot 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Nobukazu Asano
    • 1
  • Hideichi Nakamoto
    • 2
  • Tetsuo Hagiwara
    • 3
  • Shigeo Hirose
    • 1
  1. 1.Tokyo Institute of TechnologyTokyoJapan
  2. 2.Toshiba CorporationJapan
  3. 3.KinderHeim CorporationJapan

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