TY - CHAP
T1 - Development of Small Robot with Inline Archimedean Screw Mechanism that Can Move Through Wetlands
AU - Matsuhiro, Ko
AU - Tanaka, Katsuaki
AU - Inoue, Shou
AU - Zhong, Tingting
AU - Kida, Kazuki
AU - Sugahara, Yusuke
AU - Takanishi, Atsuo
AU - Ishii, Hiroyuki
N1 - Funding Information:
Acknowledgement. This study was conducted at the Waseda Research Institute for Science and Engineering, the Humanoid Robotics Institute, and the Future Robotics Organization, Waseda University. This research is supported by the Consolidated Research Institute for Advanced science and Medical Care, Waseda University (ASMeW), SolidWorks K.K., Leading Graduate Program in Science and Engineering, Waseda University from MEXT, Japan, and Grant-in-Aid for JSPS Research Fellow. Chiba Biodiversity Center supported our field survey and Lake Inba.
Funding Information:
This study was conducted at the Waseda Research Institute for Science and Engineering, the Humanoid Robotics Institute, and the Future Robotics Organization, Waseda University. This research is supported by the Consolidated Research Institute for Advanced science and Medical Care, Waseda University (ASMeW), SolidWorks K.K., Leading Graduate Program in Science and Engineering, Waseda University from MEXT, Japan, and Grant-in-Aid for JSPS Research Fellow. Chiba Biodiversity Center supported our field survey and Lake Inba.
Publisher Copyright:
© 2021, CISM International Centre for Mechanical Sciences.
PY - 2021
Y1 - 2021
N2 - We developed a small robot with Inline Archimedean Screw Mechanism in response to the demands of surveying Invasive Alien Species (IAS). There are some harmful IAS in wetlands such as snapping turtles. The current method for the survey is net-trap (“Mondori-wana”) and fumbling search by humans. Both methods are inefficient and unsafe for humans. To improve the efficiency and safety of surveying IAS in wetlands, the mobile robot system is demanded. The target environment is configured with soft ground, covered with water, dense water plants and side hole. There is no mobile robot that can move in such an environment. We proposed Inline Archimedean Screw Mechanism to realize locomotion performance at the target environment. The robot can move on a soft land as if cutting a screw. Furthermore, pushing aside water plants, the robot can prevent itself from getting stuck by dense water plants. Using Inline Archimedean Screw Mechanism, we developed the robot, named WANGOT (WAseda Native species Guardian robOT). WANGOT has the size of W85 × H85 × L460 [mm], the weight of 1.4 [kg] and two actuators and four Archimedean screws. It was possible to move forward at a speed of 27 [mm/s] on artificial turf, and the movement performance on the environment of simulated dense water plant area was confirmed.
AB - We developed a small robot with Inline Archimedean Screw Mechanism in response to the demands of surveying Invasive Alien Species (IAS). There are some harmful IAS in wetlands such as snapping turtles. The current method for the survey is net-trap (“Mondori-wana”) and fumbling search by humans. Both methods are inefficient and unsafe for humans. To improve the efficiency and safety of surveying IAS in wetlands, the mobile robot system is demanded. The target environment is configured with soft ground, covered with water, dense water plants and side hole. There is no mobile robot that can move in such an environment. We proposed Inline Archimedean Screw Mechanism to realize locomotion performance at the target environment. The robot can move on a soft land as if cutting a screw. Furthermore, pushing aside water plants, the robot can prevent itself from getting stuck by dense water plants. Using Inline Archimedean Screw Mechanism, we developed the robot, named WANGOT (WAseda Native species Guardian robOT). WANGOT has the size of W85 × H85 × L460 [mm], the weight of 1.4 [kg] and two actuators and four Archimedean screws. It was possible to move forward at a speed of 27 [mm/s] on artificial turf, and the movement performance on the environment of simulated dense water plant area was confirmed.
KW - Archimedean screw
KW - Invasive Alien Species
KW - Mobility
KW - Wetlands
UR - http://www.scopus.com/inward/record.url?scp=85092341447&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092341447&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-58380-4_41
DO - 10.1007/978-3-030-58380-4_41
M3 - Chapter
AN - SCOPUS:85092341447
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 338
EP - 346
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer Science and Business Media Deutschland GmbH
ER -