Development of Genbu: Active-Wheel Passive-Joint Snake-Like Mobile Robot

Hitoshi Kimura; Keisuke Shimizu; Shigeo Hirose

doi:10.20965/jrm.2004.p0293

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JRM Vol.16 No.3 pp. 293-303

doi: 10.20965/jrm.2004.p0293

(2004)

Paper:

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Development of Genbu: Active-Wheel Passive-Joint Snake-Like Mobile Robot

Hitoshi Kimura, Keisuke Shimizu, and Shigeo Hirose

Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan

Received:

September 27, 2003

Accepted:

December 5, 2003

Published:

June 20, 2004

Keywords:

Genbu, snake-like robots, AW-PJ robots, stuck avoidance

Abstract

Snake-like robots of the Genbu series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several problems, such as stuck condition, due to the passive joints. These are good properties for fire-fighting robots or planetary rovers. Genbu 3, developed in this study, could climb a 280mm vertical wall whereas the diameter of the wheel is 250mm. This paper describes the design concepts and the original mechanisms of Genbu 3. Automatic stuck detection algorithm and stuck avoidance methods are discussed. Para-skid steering is also described. Results of experiments with Genbu 3 are presented and discussed in order to verify these methods.

Cite this article as:

H. Kimura, K. Shimizu, and S. Hirose, “Development of Genbu: Active-Wheel Passive-Joint Snake-Like Mobile Robot,” J. Robot. Mechatron., Vol.16 No.3, pp. 293-303, 2004.

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References

[1] S. Hirose, “Biologically Inspired Robots (Snake-like Locomotor and Manipulator),” Oxford University Press, 1993.
[2] K. U. Scholl, V. Kepplin, K. Berns, and R. Dillmann, “An Articulate Service Robot for Autonomous Sewer Inspection Tasks,” IROS1999, Vol.2, pp. 1075-1080, 1999.
[3] B. Klaassen, and K.. L. PaaP, “GMD-SNAKE2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control,” ICRA1999, pp. 3014-3019, 1999.
[4] G. S. Chirikjian and J. W. Burdick, “The Kinematics of Hyper-Redundant Robotic Locomotion,” IEEE Trans. on Robotics and Automation, Vol.11, No.6, pp. 781-793, 1999.
[5] K. Dowling, and L. Locomotion, “Learning to Crawl,” ICRA1999, pp. 3001-3006, 1999.
[6] K. A. McIsaac, and J. P. Ostrowski, “A Geometric Approach to Anguilliform Locomotion: Modelling of an Underwater Eel Robot,” ICRA1999, pp. 2843-2848, 1999.
[7] G. Long, J. Anderson, and J. Borenstein, “The Kinematic Design of the OmniPede: A New Approach to Obstacle Traversion,” ICRA2002, pp. 714-719, 2002.
[8] http://www.agip.sciences.univ-metz.fr/˜mihalach/Copernicus_projet_engl.html
[9] M. Mori, and S. Hirose, “Three-Dimensional Serpentine Motion and Lateral Rolling by Active Cord Mechanism ACM-R3,” IROS2002, pp. 829-834, 2002.
[10] T. Aoki, H. Ohno, and S. Hirose, “Design of Slim Slime Robot II (SSR-II) with Bridle Bellows,” IROS2002, pp. 835-840, 2002.
[11] T. Takayama, and S. Hirose, “Amphibious 3D Active Cord Mechanism “HELIX” with Helical Swimming Motion,” IROS2002, pp. 775-780, 2002.
[12] S. Hirose, and Y. Umetani, “An Active Cord Mechanism with Oblique Swivel Joints and its Control,” Proc. 4th RoManSy Symp., Zaborow, Poland, PWN-Polish Scientific Publishers, pp. 327-340, 1981.
[13] T. Takayama, and S. Hirose, “Development of Souryu-I: Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” IECON-2000, pp. 143-148, 2002.
[14] A. Kemurdjian, V. Gromov et al., “Small Marsokhod Configuration,” ICRA1992, No.1, pp. 165-168, 1992.
[15] H. Kimura, and S. Hirose, “Development of Genbu: Active Wheel Passive Joint Articulated Mobile Robot,” IROS2002, pp. 823-828, 2002.
[16] T. Tsumaki, “Robots for Dangerous Operation,” Journal of Robotics Society of Japan, Vol.18, No.7, pp. 946-950, 2000.
[17] http://mdn.mainichi.co.jp/news/archive/200109/01/20010901p2a00m0dm012000c.html
[18] H. Kimura, and S. Hirose, “Development of the Crown Motor,” ICRA 2001, pp. 2442, 2001.
[19] M. G. Bekker, “Introduction to Terrain Vehicle Systems,” Ann Arbor/The University of Michigan Press, pp. 587-593. 1969.
[20] R. Chu, and S. Hirose, “Development of a Lightweight Torque Limiting M-Drive Actuator for Hyper-Redundant Manipulator Float Arm,” ICRA 1998, pp. 2833-2838, 1998.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Hirose, “Biologically Inspired Robots (Snake-like Locomotor and Manipulator),” Oxford University Press, 1993.

[2] [2] K. U. Scholl, V. Kepplin, K. Berns, and R. Dillmann, “An Articulate Service Robot for Autonomous Sewer Inspection Tasks,” IROS1999, Vol.2, pp. 1075-1080, 1999.

[3] [3] B. Klaassen, and K.. L. PaaP, “GMD-SNAKE2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control,” ICRA1999, pp. 3014-3019, 1999.

[4] [4] G. S. Chirikjian and J. W. Burdick, “The Kinematics of Hyper-Redundant Robotic Locomotion,” IEEE Trans. on Robotics and Automation, Vol.11, No.6, pp. 781-793, 1999.

[5] [5] K. Dowling, and L. Locomotion, “Learning to Crawl,” ICRA1999, pp. 3001-3006, 1999.

[6] [6] K. A. McIsaac, and J. P. Ostrowski, “A Geometric Approach to Anguilliform Locomotion: Modelling of an Underwater Eel Robot,” ICRA1999, pp. 2843-2848, 1999.

[7] [7] G. Long, J. Anderson, and J. Borenstein, “The Kinematic Design of the OmniPede: A New Approach to Obstacle Traversion,” ICRA2002, pp. 714-719, 2002.

[8] [8] http://www.agip.sciences.univ-metz.fr/˜mihalach/Copernicus_projet_engl.html

[9] [9] M. Mori, and S. Hirose, “Three-Dimensional Serpentine Motion and Lateral Rolling by Active Cord Mechanism ACM-R3,” IROS2002, pp. 829-834, 2002.

[10] [10] T. Aoki, H. Ohno, and S. Hirose, “Design of Slim Slime Robot II (SSR-II) with Bridle Bellows,” IROS2002, pp. 835-840, 2002.

[11] [11] T. Takayama, and S. Hirose, “Amphibious 3D Active Cord Mechanism “HELIX” with Helical Swimming Motion,” IROS2002, pp. 775-780, 2002.

[12] [12] S. Hirose, and Y. Umetani, “An Active Cord Mechanism with Oblique Swivel Joints and its Control,” Proc. 4th RoManSy Symp., Zaborow, Poland, PWN-Polish Scientific Publishers, pp. 327-340, 1981.

[13] [13] T. Takayama, and S. Hirose, “Development of Souryu-I: Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” IECON-2000, pp. 143-148, 2002.

[14] [14] A. Kemurdjian, V. Gromov et al., “Small Marsokhod Configuration,” ICRA1992, No.1, pp. 165-168, 1992.

[15] [15] H. Kimura, and S. Hirose, “Development of Genbu: Active Wheel Passive Joint Articulated Mobile Robot,” IROS2002, pp. 823-828, 2002.

[16] [16] T. Tsumaki, “Robots for Dangerous Operation,” Journal of Robotics Society of Japan, Vol.18, No.7, pp. 946-950, 2000.

[17] [17] http://mdn.mainichi.co.jp/news/archive/200109/01/20010901p2a00m0dm012000c.html

[18] [18] H. Kimura, and S. Hirose, “Development of the Crown Motor,” ICRA 2001, pp. 2442, 2001.

[19] [19] M. G. Bekker, “Introduction to Terrain Vehicle Systems,” Ann Arbor/The University of Michigan Press, pp. 587-593. 1969.

[20] [20] R. Chu, and S. Hirose, “Development of a Lightweight Torque Limiting M-Drive Actuator for Hyper-Redundant Manipulator Float Arm,” ICRA 1998, pp. 2833-2838, 1998.