Title :
Development of the snake-like rescue robot "kohga"
Author :
Kamegawa, T. ; Yarnasaki, T. ; Igarashi, H. ; Matsuno, F.
Author_Institution :
Tokyo Institute of Technology
fDate :
April 26 2004-May 1 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302523
