Development of tough snake robot systems

Fumitoshi Matsuno, Tetsushi Kamegawa, Wei Qi, Tatsuya Takemori, Motoyasu Tanaka, Mizuki Nakajima, Kenjiro Tadakuma, Masahiro Fujita, Yosuke Suzuki, Katsutoshi Itoyama, Hiroshi G. Okuno, Yoshiaki Bando, Tomofumi Fujiwara, Satoshi Tadokoro

    研究成果: Chapter

    抜粋

    In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.

    元の言語English
    ホスト出版物のタイトルSpringer Tracts in Advanced Robotics
    出版者Springer-Verlag
    ページ267-326
    ページ数60
    DOI
    出版物ステータスPublished - 2019 1 1

    出版物シリーズ

    名前Springer Tracts in Advanced Robotics
    128
    ISSN(印刷物)1610-7438
    ISSN(電子版)1610-742X

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Artificial Intelligence

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  • これを引用

    Matsuno, F., Kamegawa, T., Qi, W., Takemori, T., Tanaka, M., Nakajima, M., Tadakuma, K., Fujita, M., Suzuki, Y., Itoyama, K., Okuno, H. G., Bando, Y., Fujiwara, T., & Tadokoro, S. (2019). Development of tough snake robot systems. : Springer Tracts in Advanced Robotics (pp. 267-326). (Springer Tracts in Advanced Robotics; 巻数 128). Springer-Verlag. https://doi.org/10.1007/978-3-030-05321-5_6