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Development of Tough Snake Robot Systems

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Disaster Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 128))

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.

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Acknowledgements

This work was supported by Impulsing Paradigm Change through Disruptive Technologies (ImPACT) Tough Robotics Challenge program of Japan Science and Technology (JST) Agency.

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Authors and Affiliations

  1. Kyoto University, Kyodaikatsura, Nishikyo-ku, Kyoto, 615-8540, Japan

    Fumitoshi Matsuno, Tatsuya Takemori & Tomofumi Fujiwara

  2. Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama-shi, Okayama, 700-8530, Japan

    Tetsushi Kamegawa & Wei Qi

  3. The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, 182-8585, Japan

    Motoyasu Tanaka & Mizuki Nakajima

  4. Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi, 980-8579, Miyagi, Japan

    Kenjiro Tadakuma & Masahiro Fujita

  5. Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa, 920-1192, Japan

    Yosuke Suzuki

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

    Katsutoshi Itoyama

  7. Waseda University, 3F, 2-4-12 Okubo, Shinjuku-ku, Tokyo, 169-0072, Japan

    Hiroshi G. Okuno

  8. National Institute of Advanced Industrial Science and Technology (AIST), 2-4-7 Aomi, Koto-ku, Tokyo, 135-0064, Japan

    Yoshiaki Bando

  9. Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba-ku, Sendai, 980-8579, Japan

    Satoshi Tadokoro

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  1. Fumitoshi Matsuno
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Correspondence to Fumitoshi Matsuno .

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  1. Graduate School of Information Sciences, Tohoku University, Sendai, Japan

    Satoshi Tadokoro

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Matsuno, F. et al. (2019). Development of Tough Snake Robot Systems. In: Tadokoro, S. (eds) Disaster Robotics. Springer Tracts in Advanced Robotics, vol 128. Springer, Cham. https://doi.org/10.1007/978-3-030-05321-5_6

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