Passive stabilizing mechanism for snake-like rescue robot

In this study, we improved our previous snake-like rescue robot by developing and implementing a stabilizing mechanism. By designing the mechanism to work passively, we achieved a stabilizing function without any CPU and sensors. To demonstrate the effectiveness of the developed mechanism, experiments in which the robot approaches a vertical wall at various angles were conducted. In all cases, the robot could avoid the wall without falling.

[1]  Mohammad H. Mahoor,et al.  A self-adaptation framework for resource constrained miniature search and rescue robots , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[2]  Keiji Nagatani,et al.  Three-dimensional localization and mapping for mobile robot in disaster environments , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[3]  Dirk Schulz,et al.  Motion planning for actively reconfigurable mobile robots in search and rescue scenarios , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[4]  Shigeo Hirose,et al.  Development of Helios VII: an arm-equipped tracked vehicle for search and rescue operations , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[5]  Kazuyuki Ito,et al.  Autonomous control of a snake-like robot utilizing passive mechanism , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[6]  Kazuyuki Ito,et al.  Semi-autonomous snake-like robot for search and rescue , 2010, 2010 IEEE Safety Security and Rescue Robotics.

[7]  Quirin Hamp,et al.  Soft robot concept for autonomous propagation in confined and obstructed environments , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[8]  Mario Gianni,et al.  Rescue robots at earthquake-hit Mirandola, Italy: A field report , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[9]  Kazuyuki Ito,et al.  Hardware design of autonomous snake-like robot for reinforcement learning based on environment , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Howie Choset,et al.  Proposal of EARLI for the snake robot's obstacle aided locomotion , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[11]  K. Ito,et al.  Autonomous control of real snake-like robot using reinforcement learning; Abstraction of state-action space using properties of real world , 2007, 2007 3rd International Conference on Intelligent Sensors, Sensor Networks and Information.

[12]  Koichi Suzumori,et al.  Field test for verifying the capability of two high-powered hydraulic small robots for rescue operations , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Robin R. Murphy.  Marsupial and Shape-Shifting Robots for Urban Search and Rescue , 2000, IEEE Intell. Syst..

[14]  Akio Gofuku,et al.  V-shift control for snake robot moving the inside of a pipe with helical rolling motion , 2011, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics.

[15]  Kazuyuki Ito,et al.  Development of autonomous snake-like robot for use in rubble , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[16]  K. Suzumori,et al.  A mobile jack robot for rescue operation , 2005, IEEE International Safety, Security and Rescue Rototics, Workshop, 2005..

[17]  Howie Choset,et al.  Using kinesthetic input to overcome obstacles with snake robots , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[18]  Shuzhi Sam Ge,et al.  Autonomous stair climbing for mobile tracked robot , 2011, 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics.

[19]  Keiji Nagatani,et al.  Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot , 2010, 2010 IEEE/SICE International Symposium on System Integration.

[20]  Goldie Nejat,et al.  Learning based semi-autonomous control for robots in urban search and rescue , 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).