TY - CHAP
T1 - Development of tough snake robot systems
AU - Matsuno, Fumitoshi
AU - Kamegawa, Tetsushi
AU - Qi, Wei
AU - Takemori, Tatsuya
AU - Tanaka, Motoyasu
AU - Nakajima, Mizuki
AU - Tadakuma, Kenjiro
AU - Fujita, Masahiro
AU - Suzuki, Yosuke
AU - Itoyama, Katsutoshi
AU - Okuno, Hiroshi G.
AU - Bando, Yoshiaki
AU - Fujiwara, Tomofumi
AU - Tadokoro, Satoshi
PY - 2019/1/1
Y1 - 2019/1/1
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-030-05321-5_6
DO - 10.1007/978-3-030-05321-5_6
M3 - Chapter
AN - SCOPUS:85061154058
T3 - Springer Tracts in Advanced Robotics
SP - 267
EP - 326
BT - Springer Tracts in Advanced Robotics
PB - Springer-Verlag
ER -