Three-Dimensional Reflexive Behavior by a Snake Robot with Full Circumference Pressure Sensors

Tetsushi Kamegawa, Taichi Akiyama, Yosuke Suzuki, Toru Kishutani, Akio Gofuku

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

1 Citation (Scopus)

Abstract

The movements of snake robots are often studied in specific environments, such as two-dimensional planes, the insides or outsides of pipes, or through water. However, snake robots are also expected to be deployed in more complex environments such as disaster sites, which require more adaptability than simple environments. To realize adaptability, a snake robot needs reflective behavior in its control system for obstacle encounters. Although obstacle-adaptation methods have been proposed, most of them are limited to two-dimensional movement. This research proposes a reflexive behavior that adapts to obstacles by changing the curvature of the snake robot in a three-dimensional environment. To apply and verity the proposed method, we developed a snake robot with full-circumference pressure sensors, and moved it along a pipe by a helicoidal rolling motion. The experimental result showed that the snake robot can adapt to an obstacle by adopting reflexive behavior.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages897-902
Number of pages6
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - Jan 2020
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: Jan 12 2020Jan 15 2020

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
Country/TerritoryUnited States
CityHonolulu
Period1/12/201/15/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

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