Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot

Tetsushi Kamegawa; Taichi Akiyama; Satoshi Sakai; Kento Fujii; Kazushi Une; Eitou Ou; Yuto Matsumura; Toru Kishutani; Eiji Nose; Yusuke Yoshizaki; Akio Gofuku

doi:10.1080/01691864.2019.1691941

Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot

Tetsushi Kamegawa, Taichi Akiyama, Satoshi Sakai, Kento Fujii, Kazushi Une, Eitou Ou, Yuto Matsumura, Toru Kishutani, Eiji Nose, Yusuke Yoshizaki, Akio Gofuku

Research output: Contribution to journal › Article › peer-review

36 Citations (Scopus)

Abstract

In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.

Original language	English
Pages (from-to)	132-139
Number of pages	8
Journal	Advanced Robotics
Volume	34
Issue number	2
DOIs	https://doi.org/10.1080/01691864.2019.1691941
Publication status	Published - Jan 17 2020

Keywords

Separable robot
mobile robot
multi-agent system
snake robot
urban search-and-rescue

ASJC Scopus subject areas

Control and Systems Engineering
Software
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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10.1080/01691864.2019.1691941

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title = "Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot",

abstract = "In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.",

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doi = "10.1080/01691864.2019.1691941",

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AU - Kamegawa, Tetsushi

AU - Akiyama, Taichi

AU - Sakai, Satoshi

AU - Fujii, Kento

AU - Une, Kazushi

AU - Ou, Eitou

AU - Matsumura, Yuto

AU - Kishutani, Toru

AU - Nose, Eiji

AU - Yoshizaki, Yusuke

AU - Gofuku, Akio

N1 - Funding Information: This work was funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Publisher Copyright: © 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.

PY - 2020/1/17

Y1 - 2020/1/17

N2 - In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.

AB - In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.

KW - Separable robot

KW - mobile robot

KW - multi-agent system

KW - snake robot

KW - urban search-and-rescue

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Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot

Abstract

Keywords

ASJC Scopus subject areas

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