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

Hiroya Yamada; Shigeo Hirose

doi:10.20965/jrm.2006.p0305

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JRM Vol.18 No.3 pp. 305-311

doi: 10.20965/jrm.2006.p0305

(2006)

Paper:

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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.

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References

[1] S. Hirose, “Biologically Inspired Robots,” Oxford University Press, 1993.
[2] M. Mori, and S. Hirose, “Three-dimensional serpentine motion and lateral rolling by Active Cord Mechanism ACM-R3,” Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 829-834, 2002.
[3] M. Mori, H. Yamada, and S. Hirose, “Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control,” Journal of the Robotics Society of Japan, Vol.23, No.7, pp. 886-897, 2005 (in Japanese).
[4] C. Birkenhofer, M. Hoffmeister, J. M. Zollner, and R. Dillmann, “Compliant Motion of a Multi-segmented Inspection Robot,” Proc. of 2005 IEEE/RSJ Int. conf. on Intelligent Robots and Systems, pp. 3353-3358, 2005.
[5] T. Kamegawa, T. Yamasaki, H. Igarashi, and F. Matsuno, “Development of The Snake-like Rescue Robot “KOHGA”,” Proc. of Int. Conf. on Robotics and Automation, pp. 5081-5086, 2004.
[6] A. Masayuki, T. Takayama, and S. Hirose, “Development of “Souryu-III”: connected crawler vehicle for inspecfion inside narrow and winding spaces,” Proc. of Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 52-57, 2004.
[7] H. Yamada, and S. Hirose, “The Study on Space Trajectory Generation of Active Cord Mechanism,” The proc. of 22nd Annual Conference of the Robotics Society of Japan, CI17, 2004 (in Japanese).
[8] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” The Proc. of 36th Int. Symposium on Robotics, TH3C4, 2005.

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

[1] [1] S. Hirose, “Biologically Inspired Robots,” Oxford University Press, 1993.

[2] [2] M. Mori, and S. Hirose, “Three-dimensional serpentine motion and lateral rolling by Active Cord Mechanism ACM-R3,” Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 829-834, 2002.

[3] [3] M. Mori, H. Yamada, and S. Hirose, “Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control,” Journal of the Robotics Society of Japan, Vol.23, No.7, pp. 886-897, 2005 (in Japanese).

[4] [4] C. Birkenhofer, M. Hoffmeister, J. M. Zollner, and R. Dillmann, “Compliant Motion of a Multi-segmented Inspection Robot,” Proc. of 2005 IEEE/RSJ Int. conf. on Intelligent Robots and Systems, pp. 3353-3358, 2005.

[5] [5] T. Kamegawa, T. Yamasaki, H. Igarashi, and F. Matsuno, “Development of The Snake-like Rescue Robot “KOHGA”,” Proc. of Int. Conf. on Robotics and Automation, pp. 5081-5086, 2004.

[6] [6] A. Masayuki, T. Takayama, and S. Hirose, “Development of “Souryu-III”: connected crawler vehicle for inspecfion inside narrow and winding spaces,” Proc. of Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 52-57, 2004.

[7] [7] H. Yamada, and S. Hirose, “The Study on Space Trajectory Generation of Active Cord Mechanism,” The proc. of 22nd Annual Conference of the Robotics Society of Japan, CI17, 2004 (in Japanese).

[8] [8] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” The Proc. of 36th Int. Symposium on Robotics, TH3C4, 2005.