A snake robot propelling inside of a pipe with helical rolling motion

Toshimichi Baba, Yoshihide Kameyama, Tetsushi Kamegawa, Akio Gofuku

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2319-2325
Number of pages7
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Pipe
Robots
Wheels
Cameras

Keywords

  • Conical spiral form
  • Helical form
  • Helical rolling motion
  • Lateral rolling
  • Snake robot

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Baba, T., Kameyama, Y., Kamegawa, T., & Gofuku, A. (2010). A snake robot propelling inside of a pipe with helical rolling motion. In Proceedings of the SICE Annual Conference (pp. 2319-2325). [5602354]

A snake robot propelling inside of a pipe with helical rolling motion. / Baba, Toshimichi; Kameyama, Yoshihide; Kamegawa, Tetsushi; Gofuku, Akio.

Proceedings of the SICE Annual Conference. 2010. p. 2319-2325 5602354.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Baba, T, Kameyama, Y, Kamegawa, T & Gofuku, A 2010, A snake robot propelling inside of a pipe with helical rolling motion. in Proceedings of the SICE Annual Conference., 5602354, pp. 2319-2325, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
Baba T, Kameyama Y, Kamegawa T, Gofuku A. A snake robot propelling inside of a pipe with helical rolling motion. In Proceedings of the SICE Annual Conference. 2010. p. 2319-2325. 5602354
Baba, Toshimichi ; Kameyama, Yoshihide ; Kamegawa, Tetsushi ; Gofuku, Akio. / A snake robot propelling inside of a pipe with helical rolling motion. Proceedings of the SICE Annual Conference. 2010. pp. 2319-2325
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