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
N1 - Funding Information:
*This work was partially supported by the ImPACT Program of the Council for Science, Technology and Innovation (Cabinet Office Government of Japan).
Funding Information:
ACKNOWLEDGMENT Part of this research was supported by the Impulsing Paradigm Change through Disruptive Technologies Program (ImPACT) instituted by the Integrated Science and Technology Innovation Conference.
Publisher Copyright:
© 2019 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
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.
UR - http://www.scopus.com/inward/record.url?scp=85073415327&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85073415327&partnerID=8YFLogxK
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.
T2 - 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
Y2 - 2 September 2019 through 4 September 2019
ER -