Development of an unit type robot "KOHGA2" with stuck avoidance ability

Hitoshi Miyanaka, Norihiko Wada, Tetsushi Kamegawa, Noritaka Sato, Shingo Tsukui, Hiroki Igarashi, Fumitoshi Matsuno

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

62 Citations (Scopus)

Abstract

To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2" . It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3877-3882
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Development of an unit type robot "KOHGA2" with stuck avoidance ability'. Together they form a unique fingerprint.

  • Cite this

    Miyanaka, H., Wada, N., Kamegawa, T., Sato, N., Tsukui, S., Igarashi, H., & Matsuno, F. (2007). Development of an unit type robot "KOHGA2" with stuck avoidance ability. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 3877-3882). [4209691] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364073