Development of the snake-like rescue robot "kohga"

Kamegawa, Tetsushi; Yarnasaki, T.; Igarashi, H.; Matsuno, Fumitoshi

doi:10.1109/robot.2004.1302523

Cited by 162 publications

(87 citation statements)

References 4 publications

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“…We do not consider snake robots with active wheels in this paper. Examples of such snake robots are given in the papers by Kamegawa, 11 Yamada and Hirose, 69 and Masayuki et al 70 A description of a number of different motion patterns both for planar and 3D motion is given here.…”

Section: Snake Robot Locomotionmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

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Section: Snake Robot Locomotionmentioning

confidence: 99%

A survey on snake robot modeling and locomotion

2009

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“…Hypermobile robots: • Koryu-I and Koryu-II (Hirose, 1993) • Snake 2 (Klaassen and Paap, 1999) • Soryu (Takayama and Hirose, 2000) • Millibot Train (Brown et al, 2002) • Moira (Osuka & Kitajima, 2003) • Pipeline Explorer (Schempf et al, 2003) • Omnis family • MAKRO plus (Streich & Adria, 2004) • KOHGA (Kamegawa et al, 2004) • JL-I (Zhang et al, 2006) • Wheeeler (Pytasz & Granosik, 2006) Snake-like robots:…”

Section: Active Jointsmentioning

confidence: 99%

“…Another robot incorporating a combination of passive and active joints as well as independently driven and coupled segments is KOHGA developed by Kamegawa et al (2004) and shown in Fig. 8.…”

Section: Fig 7 Robot Genbu Representing Group Of Active Wheels -Pasmentioning

confidence: 99%

Hypermobile Robots

Granosik¹

2008

New Approaches in Automation and Robotics

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“…More recent designs of snake-like robots include the JPL Serpentine Robot [2], the ACM-R5 and the Perambulator-II [3]. Research has been aimed at mathematical formulation of snake motion, both kinematically [4] and dynamically [5], using robotic snakes with wheels [3], crawler tracks [6] or only the snake body itself [7]. Many useful applications have been recently proposed for snake-like robots such as search-and-rescue in di cult environments [8], subsea applications, pipe inspection, service robots, and even fire-fighting [9].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

Charifa

Bikdash

2010

Paladyn, Journal of Behavioral Robotics

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Snake-like robots have gained popularity in the last three decades for their ability to utilize several gaits in order to navigate through di erent terrains. They are analogous in morphology to snakes, tentacles, and elephant trunks. We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.

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Development of the snake-like rescue robot "kohga"

Cited by 162 publications

References 4 publications

A survey on snake robot modeling and locomotion

A survey on snake robot modeling and locomotion

Hypermobile Robots

Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field

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