Development of Active-Joint Active-Wheel High Traversability Snake-Like Robot ACM-R4.2

Kentarou Kouno; Hiroya Yamada; Shigeo Hirose

doi:10.20965/jrm.2013.p0559

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JRM Vol.25 No.3 pp. 559-566

doi: 10.20965/jrm.2013.p0559

(2013)

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Development of Active-Joint Active-Wheel High Traversability Snake-Like Robot ACM-R4.2

Kentarou Kouno, Hiroya Yamada, and Shigeo Hirose

Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received:

October 29, 2012

Accepted:

April 22, 2013

Published:

June 20, 2013

Keywords:

snake-like robot, inspection, rescue

Abstract

Snake-like hypermobile robots are thought to be effective in search and rescue task applications, and many research institutions have studied such robots. In prior research, we developed an active-joint activewheel snake-like robot, ACM-R4.1, which had a watertight structure and joint torque sensors that also acted as a torque limiter. Although R4.1 was highly robust in severe environments and had high terrain adaptability, we found problems that had to be overcome, such as getting stuck in rough terrain. We therefore propose a more practical snake-like robot, ACMR4.2, in order to maximizemobility performance. The main features of R4.2 are as follows: (1) thin yaw axis joints, (2) light-weight plastic housing made by vacuum injection method, and (3) wheels those were wider than those of R4.1. We tested R4.2 performance and found that it showed higher traversability than R4.1.

Cite this article as:

K. Kouno, H. Yamada, and S. Hirose, “Development of Active-Joint Active-Wheel High Traversability Snake-Like Robot ACM-R4.2,” J. Robot. Mechatron., Vol.25 No.3, pp. 559-566, 2013.

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References

[1] S. Hirose, “Biologically Inspired Robots,” Oxford University Press, 1993.
[2] M. Arai, Y. Tanaka, S. Tsukui, Y. Kuwahara, and S. Hirose, “Development of Soryu-IV and Soryu-V,” J. of Field Robotics, Vol.25, No.1, pp. 31-65, 2008.
[3] H. Yamada and S. Hirose, “Development of Practical 3-Dimensional Active CordMechanism ACM-R4,” J. of Robotics and Mechatronics, Vol.18, No.3, pp. 305-311, 2006.
[4] 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.
[5] G. Granosik, M. Hansen, and J. Borenstein, “The Omni Tread Serpentine Robot for Industrial Inspection and Surveillance,” Industrial Robots Int. J., Special Issue on Mobile Robots IR32-2, pp. 139-148, 2005.
[6] S. Takaoka, H. Yamada, and, S. Hirose, “Snake-like Active Wheel Robot ACM-R4.1 with Joint Torque Sensor and Limiter,” Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 1081-1086, 2011.
[7] H. Yamada and S. Hirose, “Study of Active Cord Mechanism – Approximations to Continuous Curves of a Multi-joint Body –,” J. of the Robotics Society of Japan, Vol.26, No.1, pp. 110-120, 2008 (in Japanese).
[8] M. Mori, H. Yamada, and S. Hirose, “Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control,” J. of the Robotics Society of Japan, Vol.23, No.7, pp. 886-897, 2005 (in Japanese).
[9] S. R. Taal, H. Yamada, and S. Hirose, “3 Axial Force Sensor for a Semi-Autonomous Snake Robot,” Proc. of Int. Conf. on Robotics and Automation, pp. 3411-3416, 2004.
[10] P. Liljeback, K. Y. Pettersen, and O. Stavdahl, “A snake robot with a contact force measurement system for obstacle-aided locomotion,” Proc. of Int. Conf. on Robotics and Automation, pp. 683-690, 2010.
[11] H. Kimura and S. Hirose, “Development of Genbu: Active wheel passive joint articulated mobile robot,” Proc. of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 823-828, 2002.

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. Arai, Y. Tanaka, S. Tsukui, Y. Kuwahara, and S. Hirose, “Development of Soryu-IV and Soryu-V,” J. of Field Robotics, Vol.25, No.1, pp. 31-65, 2008.

[3] [3] H. Yamada and S. Hirose, “Development of Practical 3-Dimensional Active CordMechanism ACM-R4,” J. of Robotics and Mechatronics, Vol.18, No.3, pp. 305-311, 2006.

[4] [4] 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.

[5] [5] G. Granosik, M. Hansen, and J. Borenstein, “The Omni Tread Serpentine Robot for Industrial Inspection and Surveillance,” Industrial Robots Int. J., Special Issue on Mobile Robots IR32-2, pp. 139-148, 2005.

[6] [6] S. Takaoka, H. Yamada, and, S. Hirose, “Snake-like Active Wheel Robot ACM-R4.1 with Joint Torque Sensor and Limiter,” Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 1081-1086, 2011.

[7] [7] H. Yamada and S. Hirose, “Study of Active Cord Mechanism – Approximations to Continuous Curves of a Multi-joint Body –,” J. of the Robotics Society of Japan, Vol.26, No.1, pp. 110-120, 2008 (in Japanese).

[8] [8] M. Mori, H. Yamada, and S. Hirose, “Design and Development of Active Cord Mechanism “ACM-R3” and its 3-dimensional Locomotion Control,” J. of the Robotics Society of Japan, Vol.23, No.7, pp. 886-897, 2005 (in Japanese).

[9] [9] S. R. Taal, H. Yamada, and S. Hirose, “3 Axial Force Sensor for a Semi-Autonomous Snake Robot,” Proc. of Int. Conf. on Robotics and Automation, pp. 3411-3416, 2004.

[10] [10] P. Liljeback, K. Y. Pettersen, and O. Stavdahl, “A snake robot with a contact force measurement system for obstacle-aided locomotion,” Proc. of Int. Conf. on Robotics and Automation, pp. 683-690, 2010.

[11] [11] H. Kimura and S. Hirose, “Development of Genbu: Active wheel passive joint articulated mobile robot,” Proc. of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 823-828, 2002.