Development of the snake-like rescue robot "KOHGA"

Tetsushi Kamegawa, Tatsuhiro Yamasaki, Hiroki Igarashi, Fumitoshi Matsuno

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

144 Citations (Scopus)

Abstract

In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages5081-5086
Number of pages6
Volume2004
Edition5
Publication statusPublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

Other

OtherProceedings- 2004 IEEE International Conference on Robotics and Automation
CountryUnited States
CityNew Orleans, LA
Period4/26/045/1/04

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Robots
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kamegawa, T., Yamasaki, T., Igarashi, H., & Matsuno, F. (2004). Development of the snake-like rescue robot "KOHGA". In Proceedings - IEEE International Conference on Robotics and Automation (5 ed., Vol. 2004, pp. 5081-5086)

Development of the snake-like rescue robot "KOHGA". / Kamegawa, Tetsushi; Yamasaki, Tatsuhiro; Igarashi, Hiroki; Matsuno, Fumitoshi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 5. ed. 2004. p. 5081-5086.

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

Kamegawa, T, Yamasaki, T, Igarashi, H & Matsuno, F 2004, Development of the snake-like rescue robot "KOHGA". in Proceedings - IEEE International Conference on Robotics and Automation. 5 edn, vol. 2004, pp. 5081-5086, Proceedings- 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, United States, 4/26/04.
Kamegawa T, Yamasaki T, Igarashi H, Matsuno F. Development of the snake-like rescue robot "KOHGA". In Proceedings - IEEE International Conference on Robotics and Automation. 5 ed. Vol. 2004. 2004. p. 5081-5086
Kamegawa, Tetsushi ; Yamasaki, Tatsuhiro ; Igarashi, Hiroki ; Matsuno, Fumitoshi. / Development of the snake-like rescue robot "KOHGA". Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 5. ed. 2004. pp. 5081-5086
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