A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1

Saori Sugita; Kazunori Ogami; Guarnieri Michele; Shigeo Hirose; Kensuke Takita

doi:10.20965/jrm.2008.p0302

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JRM Vol.20 No.2 pp. 302-310

doi: 10.20965/jrm.2008.p0302

(2008)

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A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1

Saori Sugita^*, Kazunori Ogami^**, Guarnieri Michele^,
Shigeo Hirose^, and Kensuke Takita^***

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

^**Canon Inc. Robot Development Propulsion Project, 70-1 Yanagi-cho, Saiwai-ku, Kawasaki-shi, Kanagawa 212-8602, Japan

^***HiBot Corporation, 201 University Corporate Relations Bldg., 2-10-1 Kamata, Ota-ku, Tokyo 144-0052, Japan

Received:

September 28, 2007

Accepted:

December 20, 2007

Published:

April 20, 2008

Keywords:

active cord mechanism, snake-like robot, elastic rods, inchworm motion, angleworm motion

Abstract

This paper presents ACM-S1 (Active Cord Mechanism – Slime model 1), a snake-like robot. Conventional snake-like robots have difficulty negotiation uneven ground. In this paper, we propose “a bending and expanding joint unit” which has three degrees of freedom (3DOF) in inchworm/angleworm-like motion and has been developed to solve this problem. The ACM-S1 we developed is composed of a series of these joint units. Experiments conducted to evaluate ACM-S1’s performance demonstrate the effectiveness of inchworm motion over uneven ground and of angleworm motion over flat, smooth ground.

Cite this article as:

Saori Sugita, Kazunori Ogami, Guarnieri Michele,
Shigeo Hirose, and Kensuke Takita, “A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1,” J. Robot. Mechatron., Vol.20, No.2, pp. 302-310, 2008.

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References

[1] S. Hirose, “Biologically Inspired Robots (Snake-like Locomotor and Manipulator),” Oxford University Press, 1987.
[2] M. Mori and S. Hirose, “Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility,” Proc. Of IROS, pp. 1552-1557, 2001.
[3] M. Mori and S. Hirose,“Three-dimentional serpentine motion and lateral rolling by Active Cord Mechanism ACM-R3,” Proc. Of IROS, pp. 829-834, 2002.
[4] M. Mori, H. Yamada, and S. Hirose, “Design and development of Active Cord Mechanism ‘ACM-R3’ and its 3-dimentional locomotion control,” The Journal of Robotics Society Japan, Vol. 23, No.7, 2005.
[5] M. Mori and S. Hirose, “ Locomotion of 3D Snake-Like Robots –Shifting and Rolling Control of Active Cord Mechanism ACMR3–,” Journal of Robotics and Mechatronics, Vol.18, No. 5, 2006.
[6] H. Ohno and S. Hirose, “Design of Slim Slime Robot and its Gait of Locomotion,” Proc. Of IROS, pp. 707-715, 2001.
[7] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” Proc. Of 36th Int. Symposium on Robotics, pp. TH3C4, 2005.
[8] A. Crespi, A. Badertscher, A. Guiqnard, A. J. Ijspeert, “Swimming and Crawring with an Amphibious Snake Robot,” Proc. of ICRA, pp. 3024-3028, 2005.
[9] G. S. Chirikjian and J. W. Burdick, “Design and Experiments with a 30 DOF Robot,” Proc. Of ICRA, pp. 113-119, 1993.
[10] G. S. Chirikjian and J. W. Burdick, “The Kinematics of Hyperredundant Robot Locomotion,” Proc. Of ICRA, pp. 781-793, 1995.

[1] [1] S. Hirose, “Biologically Inspired Robots (Snake-like Locomotor and Manipulator),” Oxford University Press, 1987.

[2] [2] M. Mori and S. Hirose, “Development of Active Cord Mechanism ACM-R3 with Agile 3D mobility,” Proc. Of IROS, pp. 1552-1557, 2001.

[3] [3] M. Mori and S. Hirose,“Three-dimentional serpentine motion and lateral rolling by Active Cord Mechanism ACM-R3,” Proc. Of IROS, pp. 829-834, 2002.

[4] [4] M. Mori, H. Yamada, and S. Hirose, “Design and development of Active Cord Mechanism ‘ACM-R3’ and its 3-dimentional locomotion control,” The Journal of Robotics Society Japan, Vol. 23, No.7, 2005.

[5] [5] M. Mori and S. Hirose, “ Locomotion of 3D Snake-Like Robots –Shifting and Rolling Control of Active Cord Mechanism ACMR3–,” Journal of Robotics and Mechatronics, Vol.18, No. 5, 2006.

[6] [6] H. Ohno and S. Hirose, “Design of Slim Slime Robot and its Gait of Locomotion,” Proc. Of IROS, pp. 707-715, 2001.

[7] [7] H. Yamada, S. Chigisaki, M. Mori, K. Takita, K. Ogami, and S. Hirose, “Development of Amphibious Snake-like Robot ACM-R5,” Proc. Of 36th Int. Symposium on Robotics, pp. TH3C4, 2005.

[8] [8] A. Crespi, A. Badertscher, A. Guiqnard, A. J. Ijspeert, “Swimming and Crawring with an Amphibious Snake Robot,” Proc. of ICRA, pp. 3024-3028, 2005.

[9] [9] G. S. Chirikjian and J. W. Burdick, “Design and Experiments with a 30 DOF Robot,” Proc. Of ICRA, pp. 113-119, 1993.

[10] [10] G. S. Chirikjian and J. W. Burdick, “The Kinematics of Hyperredundant Robot Locomotion,” Proc. Of ICRA, pp. 781-793, 1995.

A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1

Saori Sugita*, Kazunori Ogami**, Guarnieri Michele*, Shigeo Hirose*, and Kensuke Takita***

Saori Sugita^*, Kazunori Ogami^**, Guarnieri Michele^,
Shigeo Hirose^, and Kensuke Takita^***