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 language | English |
|---|---|
| Title of host publication | 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1-6 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728107783 |
| DOIs | |
| Publication status | Published - Sep 2019 |
| Event | 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 - Wurzburg, Germany Duration: Sep 2 2019 → Sep 4 2019 |
Publication series
| Name | 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 |
|---|
Conference
| Conference | 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 |
|---|---|
| Country | Germany |
| City | Wurzburg |
| Period | 9/2/19 → 9/4/19 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Optimization
- Safety Research
Cite this
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 proceeding › Conference contribution
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TY - GEN
T1 - Odometry of a Three-Dimensional Snake-like Robot and its Application
AU - Abe, Taro
AU - Date, Hisashi
AU - Kamegawa, Tetsushi
AU - Suzuki, Yosuke
PY - 2019/9
Y1 - 2019/9
N2 - 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.
AB - 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.
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U2 - 10.1109/SSRR.2019.8848956
DO - 10.1109/SSRR.2019.8848956
M3 - Conference contribution
AN - SCOPUS:85073415327
T3 - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
SP - 1
EP - 6
BT - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
ER -