Development of tough snake robot systems

Fumitoshi Matsuno, Tetsushi Kamegawa, Wei Qi, Tatsuya Takemori, Motoyasu Tanaka, Mizuki Nakajima, Kenjiro Tadakuma, Masahiro Fujita, Yosuke Suzuki, Katsutoshi Itoyama, Hiroshi G. Okuno, Yoshiaki Bando, Tomofumi Fujiwara, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages267-326
Number of pages60
DOIs
Publication statusPublished - Jan 1 2019

Publication series

NameSpringer Tracts in Advanced Robotics
Volume128
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Fingerprint

Robots
Grippers
Wheels
Inspection
Pipe
Ladders
Remote control
Debris
Roofs
Demonstrations
Acoustic waves
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Matsuno, F., Kamegawa, T., Qi, W., Takemori, T., Tanaka, M., Nakajima, M., ... Tadokoro, S. (2019). Development of tough snake robot systems. In Springer Tracts in Advanced Robotics (pp. 267-326). (Springer Tracts in Advanced Robotics; Vol. 128). Springer Verlag. https://doi.org/10.1007/978-3-030-05321-5_6

Development of tough snake robot systems. / Matsuno, Fumitoshi; Kamegawa, Tetsushi; Qi, Wei; Takemori, Tatsuya; Tanaka, Motoyasu; Nakajima, Mizuki; Tadakuma, Kenjiro; Fujita, Masahiro; Suzuki, Yosuke; Itoyama, Katsutoshi; Okuno, Hiroshi G.; Bando, Yoshiaki; Fujiwara, Tomofumi; Tadokoro, Satoshi.

Springer Tracts in Advanced Robotics. Springer Verlag, 2019. p. 267-326 (Springer Tracts in Advanced Robotics; Vol. 128).

Research output: Chapter in Book/Report/Conference proceedingChapter

Matsuno, F, Kamegawa, T, Qi, W, Takemori, T, Tanaka, M, Nakajima, M, Tadakuma, K, Fujita, M, Suzuki, Y, Itoyama, K, Okuno, HG, Bando, Y, Fujiwara, T & Tadokoro, S 2019, Development of tough snake robot systems. in Springer Tracts in Advanced Robotics. Springer Tracts in Advanced Robotics, vol. 128, Springer Verlag, pp. 267-326. https://doi.org/10.1007/978-3-030-05321-5_6
Matsuno F, Kamegawa T, Qi W, Takemori T, Tanaka M, Nakajima M et al. Development of tough snake robot systems. In Springer Tracts in Advanced Robotics. Springer Verlag. 2019. p. 267-326. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-030-05321-5_6
Matsuno, Fumitoshi ; Kamegawa, Tetsushi ; Qi, Wei ; Takemori, Tatsuya ; Tanaka, Motoyasu ; Nakajima, Mizuki ; Tadakuma, Kenjiro ; Fujita, Masahiro ; Suzuki, Yosuke ; Itoyama, Katsutoshi ; Okuno, Hiroshi G. ; Bando, Yoshiaki ; Fujiwara, Tomofumi ; Tadokoro, Satoshi. / Development of tough snake robot systems. Springer Tracts in Advanced Robotics. Springer Verlag, 2019. pp. 267-326 (Springer Tracts in Advanced Robotics).
@inbook{654a4bc9f48a430683a59b96d5a38736,
title = "Development of tough snake robot systems",
abstract = "In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.",
author = "Fumitoshi Matsuno and Tetsushi Kamegawa and Wei Qi and Tatsuya Takemori and Motoyasu Tanaka and Mizuki Nakajima and Kenjiro Tadakuma and Masahiro Fujita and Yosuke Suzuki and Katsutoshi Itoyama and Okuno, {Hiroshi G.} and Yoshiaki Bando and Tomofumi Fujiwara and Satoshi Tadokoro",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/978-3-030-05321-5_6",
language = "English",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer Verlag",
pages = "267--326",
booktitle = "Springer Tracts in Advanced Robotics",

}

TY - CHAP

T1 - Development of tough snake robot systems

AU - Matsuno, Fumitoshi

AU - Kamegawa, Tetsushi

AU - Qi, Wei

AU - Takemori, Tatsuya

AU - Tanaka, Motoyasu

AU - Nakajima, Mizuki

AU - Tadakuma, Kenjiro

AU - Fujita, Masahiro

AU - Suzuki, Yosuke

AU - Itoyama, Katsutoshi

AU - Okuno, Hiroshi G.

AU - Bando, Yoshiaki

AU - Fujiwara, Tomofumi

AU - Tadokoro, Satoshi

PY - 2019/1/1

Y1 - 2019/1/1

N2 - In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.

AB - In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.

UR - http://www.scopus.com/inward/record.url?scp=85061154058&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85061154058&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-05321-5_6

DO - 10.1007/978-3-030-05321-5_6

M3 - Chapter

AN - SCOPUS:85061154058

T3 - Springer Tracts in Advanced Robotics

SP - 267

EP - 326

BT - Springer Tracts in Advanced Robotics

PB - Springer Verlag

ER -