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 journalArticlepeer-review

36 Citations (Scopus)


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 languageEnglish
Pages (from-to)132-139
Number of pages8
JournalAdvanced Robotics
Issue number2
Publication statusPublished - Jan 17 2020


  • 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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