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JRM Vol.18 No.3 pp. 305-311
doi: 10.20965/jrm.2006.p0305
(2006)

Paper:

Development of Practical 3-Dimensional Active Cord Mechanism ACM-R4

Hiroya Yamada, and Shigeo Hirose

Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received:
November 2, 2005
Accepted:
March 2, 2006
Published:
June 20, 2006
Keywords:
active cord mechanism, snake-like robot
Abstract

Despite the many studies on snake-like robots and long, thin super-redundant manipulators targeting their potential applications in complex environments, e.g., containing obstacles such as water and/or dust that impede robot movement, most have limited their investigation to robot maneuverability within the laboratory and few have attempted to develop robots in practical environments. We propose a practical, dust- and water-proof snake-like robot and its prototype. We start by discussing the practical functions required and the mechanism developed. We then discuss joint control and an experiment testing the prototype.

Cite this article as:
H. Yamada and S. Hirose, “Development of Practical 3-Dimensional Active Cord Mechanism ACM-R4,” J. Robot. Mechatron., Vol.18, No.3, pp. 305-311, 2006.
Data files:
References
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Last updated on Feb. 21, 2020