Snakes and Strings: New Robotic Components for Rescue Operations

The International Rescue System Institute has been established in Japan to promote research and development of key technologies for the realization of practical search-and-rescue robots, anticipating future large-scale earthquakes and other catastrophic disasters. In this paper we propose a new paradigm called “snakes and strings”, for developing practical mobile robot systems that may be useful in such situations. “Snakes” stands for snake-like robots, which can skillfully move among the debris of the collapsed buildings. “Strings”, on the other hand, means robotic systems using strings or tethers, such as proposed in the “hyper-tether” research. Tethers can continuously supply energy, accomplish reliable communication links, and also exhibit high traction force. In this paper we present many new mechanical implementations of snake-like robots developed in our laboratory, and we also explain in detail the new paradigm.

[1]  Howie Choset,et al.  Design and motion planning for serpentine robots , 2000, Smart Structures.

[2]  Jorge Angeles,et al.  Instantaneous kinematics and design of a novel redundant parallel manipulator , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[3]  Sadao Kawamura,et al.  Development of an Ultrahigh Speed Robot FALCON Using Parallel Wire Drive Systems , 1997 .

[4]  Manfred Hiller,et al.  On design of a redundant wire-driven parallel robot WARP manipulator , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[5]  Shigeo Hirose,et al.  Development of Gryphon-I : Autonomous Buggy Robot for Off-Road Applications , 2002 .

[6]  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).

[7]  Shigeo Hirose,et al.  Development of tethered autonomous mobile robot systems for field works , 2001, Adv. Robotics.

[8]  Shigeo Hirose,et al.  Biomechanical Study on Serpentine Locomotion , 1974 .

[9]  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.

[10]  Shigeo Hirose,et al.  A proposal for cooperative robot "Gunryu" composed of autonomous segments , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[11]  Shigeo Hirose,et al.  Proposal for cooperative robot "Gunryu" composed of autonomous segments , 1996, Robotics Auton. Syst..

[12]  Shigeo Hirose,et al.  A new flexible component for field robotic system , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

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