Biologically Inspired Snake-like Robots

We have developed the snake-like robot since 1972. The body of snake has "the function of an arm" when it holds something by coiling itself and also has "the function of legs" when it moves by creeping. The body of ACM has several functions, which are fulfilled one after another according to the situation. Especially in this paper, it introduces about the various move method realized about the move function using 3-dimensional type ACM, and its feature

[1]  Karsten Berns,et al.  Controlling a multi-joint robot for autonomous sewer inspection , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Gen Endo,et al.  Study on self-contained and terrain adaptive active cord mechanism , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[3]  Kevin Dowling,et al.  Limbless locomotion: learning to crawl , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Toshio Takayama,et al.  Amphibious 3D active cord mechanism "HELIX" with helical swimming motion , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Shigeo Hirose,et al.  Development of active cord mechanism ACM-R3 with agile 3D mobility , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[6]  Shigeo Hirose,et al.  Study on three-dimensional active cord mechanism: development of ACM-R2 , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[7]  Shigeo Hirose,et al.  Three-dimensional serpentine motion and lateral rolling by active cord mechanism ACM-R3 , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Shigeo Hirose,et al.  Biologically Inspired Robots: Snake-Like Locomotors and Manipulators , 1993 .

[9]  S. Hirose,et al.  Design of slim slime robot and its gait of locomotion , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[10]  Bernhard Klaassen,et al.  GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).