DocumentCode
3035346
Title
Development of the snake-like rescue robot "kohga"
Author
Kamegawa, T. ; Yarnasaki, T. ; Igarashi, H. ; Matsuno, F.
Author_Institution
Tokyo Institute of Technology
Volume
5
fYear
2004
fDate
April 26 2004-May 1 2004
Firstpage
5081
Lastpage
5086
Abstract
In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.
Keywords
Cameras; Charge coupled devices; Crawlers; Large-scale systems; Mobile robots; Orbital robotics; Robot sensing systems; Robot vision systems; Space technology; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location
New Orleans, LA, USA
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302523
Filename
1302523
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