Snake-like robots [Tutorial]

Author

Hirose, Shigeo ; Yamada, Hiroya

Author_Institution

Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Tokyo

Volume

16

Issue

1

fYear

2009

fDate

3/1/2009 12:00:00 AM

Firstpage

88

Lastpage

98

Abstract

We have introduced the biomechanical research on snakes and developmental research on snake-like robots that we have been working on. We could not introduce everything we developed. There were also a smaller snake-like active endoscope; a large-sized snake-like inspection robot for nuclear reactor related facility, Koryu, 1 m in height, 3.5 m in length, and 350 kg in weight; and several other snake-like robots. Development of snake-like robots is still one of our latest research topics. We feel that the technical difficulties in putting snake-like robots into practice have almost been overcome by past research, so we believe that such practical use of snake-like robots can be realized soon.

Keywords

biomechanics; mobile robots; robot kinematics; Koryu; biomechanical research; muscular force; nuclear reactor related facility; snake locomotion; snake-like active endoscope; snake-like inspection robot; snake-like robots; thrusting force; Kinematics; Motion analysis; Performance analysis; Robotics and automation; Robots; Torque; Tutorials; Biologically inspired robot, snake-like robot, mechanical design;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2009.932130

Filename

4799450