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

Taro Abe; Hisashi Date; Tetsushi Kamegawa; Yosuke Suzuki

doi:10.1109/SSRR.2019.8848956

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 proceeding › Conference 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 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	https://doi.org/10.1109/SSRR.2019.8848956
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

ASJC Scopus subject areas

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

Access to Document

10.1109/SSRR.2019.8848956

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

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

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).

@inproceedings{610f9320826648419441f01404d71edb,

title = "Odometry of a Three-Dimensional Snake-like Robot and its Application",

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.",

author = "Taro Abe and Hisashi Date and Tetsushi Kamegawa and Yosuke Suzuki",

year = "2019",

month = sep,

doi = "10.1109/SSRR.2019.8848956",

language = "English",

series = "2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1--6",

booktitle = "2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019",

note = "2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 ; Conference date: 02-09-2019 Through 04-09-2019",

}

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.

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 -