TY - GEN
T1 - A snake robot propelling inside of a pipe with helical rolling motion
AU - Baba, Toshimichi
AU - Kameyama, Yoshihide
AU - Kamegawa, Tetsushi
AU - Gofuku, Akio
PY - 2010/1/1
Y1 - 2010/1/1
N2 - Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe.
AB - Recently, multiple locomotion gaits of snakes have been realized by snake robots. A snake robot would be applied to going into a narrow space to investigate the inside of a long and slim pipe and to executing some simple work by using its slim body. In this paper, we achieve a new locomotion mode that propels a snake robot the inside of a pipe with helical rolling motion, in addition to previously achieved locomotion modes. A structure of the snake robot is constructed by connecting many units in series. The unit has a pitch axis, a yaw axis and two passive wheels. A shape of the robot is calculated by using mathematical continuum curve model. In addition, we present a method that the shape of snake robot is adjusted to a diameter of a pipe automatically. Moreover, we indicate a possibility of a new locomotion mode which conduct helical rolling motion with conical spiral form in order to improve a position of a camera while the snake robot investigates the inside of a pipe.
KW - Conical spiral form
KW - Helical form
KW - Helical rolling motion
KW - Lateral rolling
KW - Snake robot
UR - http://www.scopus.com/inward/record.url?scp=78649278308&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649278308&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649278308
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 2319
EP - 2325
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -