Development of tough snake robot systems

Fumitoshi Matsuno; Tetsushi Kamegawa; Wei Qi; Tatsuya Takemori; Motoyasu Tanaka; Mizuki Nakajima; Kenjiro Tadakuma; Masahiro Fujita; Yosuke Suzuki; Katsutoshi Itoyama; Hiroshi G. Okuno; Yoshiaki Bando; Tomofumi Fujiwara; Satoshi Tadokoro

doi:10.1007/978-3-030-05321-5_6

Development of tough snake robot systems

Fumitoshi Matsuno^*, Tetsushi Kamegawa, Wei Qi, Tatsuya Takemori, Motoyasu Tanaka, Mizuki Nakajima, Kenjiro Tadakuma, Masahiro Fujita, Yosuke Suzuki, Katsutoshi Itoyama, Hiroshi G. Okuno, Yoshiaki Bando, Tomofumi Fujiwara, Satoshi Tadokoro

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter

7 Citations (Scopus)

Abstract

In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.

Original language	English
Title of host publication	Springer Tracts in Advanced Robotics
Publisher	Springer-Verlag
Pages	267-326
Number of pages	60
DOIs	https://doi.org/10.1007/978-3-030-05321-5_6
Publication status	Published - 2019 Jan 1

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	128
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-030-05321-5_6

Cite this

Matsuno, F., Kamegawa, T., Qi, W., Takemori, T., Tanaka, M., Nakajima, M., Tadakuma, K., Fujita, M., Suzuki, Y., Itoyama, K., Okuno, H. G., Bando, Y., Fujiwara, T., & Tadokoro, S. (2019). Development of tough snake robot systems. In Springer Tracts in Advanced Robotics (pp. 267-326). (Springer Tracts in Advanced Robotics; Vol. 128). Springer-Verlag. https://doi.org/10.1007/978-3-030-05321-5_6

Matsuno, F, Kamegawa, T, Qi, W, Takemori, T, Tanaka, M, Nakajima, M, Tadakuma, K, Fujita, M, Suzuki, Y, Itoyama, K, Okuno, HG, Bando, Y, Fujiwara, T & Tadokoro, S 2019, Development of tough snake robot systems. in Springer Tracts in Advanced Robotics. Springer Tracts in Advanced Robotics, vol. 128, Springer-Verlag, pp. 267-326. https://doi.org/10.1007/978-3-030-05321-5_6

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Development of tough snake robot systems

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