Odometry of a Three-Dimensional Snake-like Robot and its Application

Taro Abe, Hisashi Date, Tetsushi Kamegawa, Yosuke Suzuki

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

Abstract

This paper describes the odometry for snake-like robots. The key idea is based on the assumption that the body does not slip on the contact points. Subsequently, the position of each part of the body is calculated from joint angle information. The method is applicable to crawler gait, sidewinding, and helical rolling, all of which satisfy the nonslip assumption. Simulations and experiment were conducted to verify the proposed method. Using a physics simulator, odometry error was evaluated for three types of gait. In an experiment in a pipeline of a mockup plant, the robot was visualized together with the point clouds of a pipe surface obtained from tactile sensor information.

Original languageEnglish
Title of host publication2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781728107783
DOIs
Publication statusPublished - Sep 2019
Event2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 - Wurzburg, Germany
Duration: Sep 2 2019Sep 4 2019

Publication series

Name2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019

Conference

Conference2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
CountryGermany
CityWurzburg
Period9/2/199/4/19

Fingerprint

Snakes
Gait
robot
Robot
Tactile Sensor
Robots
Three-dimensional
experiment
Point Cloud
Point contacts
Slip
Experiment
physics
Simulator
Physics
Pipelines
Simulators
Experiments
Pipe
contact

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Optimization
  • Safety Research

Cite this

Abe, T., Date, H., Kamegawa, T., & Suzuki, Y. (2019). Odometry of a Three-Dimensional Snake-like Robot and its Application. In 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 (pp. 1-6). [8848956] (2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2019.8848956

Odometry of a Three-Dimensional Snake-like Robot and its Application. / Abe, Taro; Date, Hisashi; Kamegawa, Tetsushi; Suzuki, Yosuke.

2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1-6 8848956 (2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019).

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

Abe, T, Date, H, Kamegawa, T & Suzuki, Y 2019, Odometry of a Three-Dimensional Snake-like Robot and its Application. in 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019., 8848956, 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019, Wurzburg, Germany, 9/2/19. https://doi.org/10.1109/SSRR.2019.8848956
Abe T, Date H, Kamegawa T, Suzuki Y. Odometry of a Three-Dimensional Snake-like Robot and its Application. In 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1-6. 8848956. (2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019). https://doi.org/10.1109/SSRR.2019.8848956
Abe, Taro ; Date, Hisashi ; Kamegawa, Tetsushi ; Suzuki, Yosuke. / Odometry of a Three-Dimensional Snake-like Robot and its Application. 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1-6 (2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019).
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