DocumentCode
2630662
Title
Development of an unit type robot "KOHGA2" with stuck avoidance ability
Author
Miyanaka, Hitoshi ; Wada, Norihiko ; Kamegawa, Tetsushi ; Sato, Noritaka ; Tsukui, Shingo ; Igarashi, Hiroki ; Matsuno, Fumitoshi
Author_Institution
Univ. of Electro-Commun., Tokyo
fYear
2007
fDate
10-14 April 2007
Firstpage
3877
Lastpage
3882
Abstract
To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.
Keywords
disasters; mobile robots; service robots; KOHGA2; crawler arms; multiple crawler vehicles; snake-like rescue robot; stuck avoidance; unit assembled robot; Crawlers; Hardware; Humans; Joining processes; Mobile robots; Orbital robotics; Robotic assembly; Robotics and automation; Service robots; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364073
Filename
4209691
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