Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot

Kenjiro Tadakuma

doi:10.20965/jrm.2008.p0106

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JRM Vol.20 No.1 pp. 106-115

doi: 10.20965/jrm.2008.p0106

(2008)

Paper:

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Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot

Kenjiro Tadakuma

Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139 USA

Received:

June 15, 2007

Accepted:

November 2, 2007

Published:

February 20, 2008

Keywords:

search and rescue robot, connected crawler, double joint mechanism, multiple configurations

Abstract

This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the configurations of obstacles in the field, including such complicated structures like debris after disasters. To assess the performance of this joint mechanism, an actual prototype model was developed and the basic performances of this vehicle were confirmed through mobile experiments.

Cite this article as:

K. Tadakuma, “Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot,” J. Robot. Mechatron., Vol.20 No.1, pp. 106-115, 2008.

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References

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[10] http://www.nosc.mil/robots/land/mprs/mprs.html
[11] M. H. Bruch, G. A. Gilbreath, J. W. Muelhauser, and J. Q. Lum, “Accurate Waypoint Navigation Using Non-differential GPS,” AUVSI Unmanned Systems 2002, Lake Buena Vista, FL, July 9-11, 2002.
[12] S. Y. Harmon, “The Ground Surveillance Robot (GSR): An Autonomous Vehicle Designed to Transit Unknown terain,” IEEE Journal of Robotics and Automation, Vol.RA-3, No.3, pp. 266-279, June, 1987.
[13] http://www.inuktun.com/nanomag.htm
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[18] K. Tadakuma, “Joint Mechanism to Automatically Realize Multiple Configurations for a Connected Vehicle,” The First IEEE/RASEMBS Int. Conf. on Biomedical Robotics and Biomechatronics, Parallel Session 6: “Animal-Inspired Models and Mechanisms,” ISBN 1-4244-0040-6, Pisa-Italy, February, 2006.
[19] C. Ye, S. Ma, and B. Li, “Design and Basic Experiments of a Shape-shifting Mobile Robot for Urban Search and Rescue,” 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3994-3999, October, 2006.
[20] K. Arikawa and S. Hirose, “Development of quadruped walking robot TITAN-VIII,” IROS 96, Proc. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems ’96, Digital Object Identifier 10.1109/IROS.1996.570670, Vol.1, pp. 208-214, Nov. 4-8, 1996.

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

[1] [1] http://www.mos.org/cst/article/1516/5.html

[2] [2] http://www.military.com/soldiertech/0,14632,Soldiertech_DragonRobot,,00.html

[3] [3] S. A. Stoeter, I. T. Burt, and N. Papanikolopoulos, “Scout Robot Motion Model,” Proc. of the IEEE Int. Conf. on Robotics and Automation, p. 90, Taipei, Taiwan, 2003.

[4] [4] H. Tsukagoshi, M. Sasaki, A. Kitagawa, and T. Tanaka, “Design of a Higher Jumping Rescue Robot with the Optimized Pneumatic Drive,” Proc. of 2005 IEEE Int. Conf. on Robotics and Automation, Barcelona, April 18-22, 2005.

[5] [5] T. Takayama and S. Hirose, “Development of “Soryu I & II” –Connected Crawler Vehicle for Inspection of Narrow and Winding Space–,” Journal of Robotics and Mechatronics, Vol.15, No.1, pp. 61-69, Feb., 2003.

[6] [6] http://www.foster-miller.com/literature/documents/TALON_Brochure.pdf

[7] [7] http://www.inuktun.com

[8] [8] http://www.inuktun.com/versatrax100.htm

[9] [9] http://www.foster-miller.com/lemming.htm

[10] [10] http://www.nosc.mil/robots/land/mprs/mprs.html

[11] [11] M. H. Bruch, G. A. Gilbreath, J. W. Muelhauser, and J. Q. Lum, “Accurate Waypoint Navigation Using Non-differential GPS,” AUVSI Unmanned Systems 2002, Lake Buena Vista, FL, July 9-11, 2002.

[12] [12] S. Y. Harmon, “The Ground Surveillance Robot (GSR): An Autonomous Vehicle Designed to Transit Unknown terain,” IEEE Journal of Robotics and Automation, Vol.RA-3, No.3, pp. 266-279, June, 1987.

[13] [13] http://www.inuktun.com/nanomag.htm

[14] [14] http://www.inuktun.com/versatrax150.htm

[15] [15] K. Osuka and H. Kitajima, “Development of Mobile Inspection Robot for Rescue Activities: MOIRA,” Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Las Vegas, Nevada, October, 2003.

[16] [16] http://www.irobot.com/sp.cfm?pageid=109

[17] [17] http://www.furo.org/robot/Hibiscus/index.html

[18] [18] K. Tadakuma, “Joint Mechanism to Automatically Realize Multiple Configurations for a Connected Vehicle,” The First IEEE/RASEMBS Int. Conf. on Biomedical Robotics and Biomechatronics, Parallel Session 6: “Animal-Inspired Models and Mechanisms,” ISBN 1-4244-0040-6, Pisa-Italy, February, 2006.

[19] [19] C. Ye, S. Ma, and B. Li, “Design and Basic Experiments of a Shape-shifting Mobile Robot for Urban Search and Rescue,” 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3994-3999, October, 2006.

[20] [20] K. Arikawa and S. Hirose, “Development of quadruped walking robot TITAN-VIII,” IROS 96, Proc. of the 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems ’96, Digital Object Identifier 10.1109/IROS.1996.570670, Vol.1, pp. 208-214, Nov. 4-8, 1996.