V-shift control for snake robot moving the inside of a pipe with helical rolling motion

Tetsushi Kamegawa, Toshimichi Baba, Akio Gofuku

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

22 Citations (Scopus)

Abstract

A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along a pipe. The shape of the robot in each locomotion mode is calculated by using mathematical continuum curve model respectively. However, it is necessary to change these shape smoothly when the environment where the snake robot is moving changes. It is relatively easy to achieve this in the case that the snake robot moves along its body, namely it moves to a tangential direction, by using the traditional shift control. In this paper, we propose a s-shift control and a v-shift control for a snake robot moving vertical direction to its body. In this paper, the v-shift control is installed to an experimental snake robot and the locomotion performance of robot is evaluated for the pipe composed of a straight pipe and an elbow pipe. As a result, the snake robot could successfully changes its locomotion mode to move the inside of the pipes with two types of helical rolling motion.

Original languageEnglish
Title of host publication9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011
Pages1-6
Number of pages6
DOIs
Publication statusPublished - 2011
Event9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 - Kyoto, Japan
Duration: Nov 1 2011Nov 5 2011

Other

Other9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011
CountryJapan
CityKyoto
Period11/1/1111/5/11

Fingerprint

Pipe
Robots

Keywords

  • Helical Rolling Motion
  • Shift Control
  • Snake Robot

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Safety, Risk, Reliability and Quality

Cite this

Kamegawa, T., Baba, T., & Gofuku, A. (2011). V-shift control for snake robot moving the inside of a pipe with helical rolling motion. In 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 (pp. 1-6). [6106789] https://doi.org/10.1109/SSRR.2011.6106789

V-shift control for snake robot moving the inside of a pipe with helical rolling motion. / Kamegawa, Tetsushi; Baba, Toshimichi; Gofuku, Akio.

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011. 2011. p. 1-6 6106789.

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

Kamegawa, T, Baba, T & Gofuku, A 2011, V-shift control for snake robot moving the inside of a pipe with helical rolling motion. in 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011., 6106789, pp. 1-6, 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011, Kyoto, Japan, 11/1/11. https://doi.org/10.1109/SSRR.2011.6106789
Kamegawa T, Baba T, Gofuku A. V-shift control for snake robot moving the inside of a pipe with helical rolling motion. In 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011. 2011. p. 1-6. 6106789 https://doi.org/10.1109/SSRR.2011.6106789
Kamegawa, Tetsushi ; Baba, Toshimichi ; Gofuku, Akio. / V-shift control for snake robot moving the inside of a pipe with helical rolling motion. 9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011. 2011. pp. 1-6
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