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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364073
