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

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Odometry of a Three-Dimensional Snake-like Robot and its Application'. Together they form a unique fingerprint.

  • 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