Development of an unit type robot "KOHGA2" with stuck avoidance ability

Hitoshi Miyanaka; Norihiko Wada; Tetsushi Kamegawa; Noritaka Sato; Shingo Tsukui; Hiroki Igarashi; Fumitoshi Matsuno

doi:10.1109/ROBOT.2007.364073

Development of an unit type robot "KOHGA2" with stuck avoidance ability

Hitoshi Miyanaka, Norihiko Wada, Tetsushi Kamegawa, Noritaka Sato, Shingo Tsukui, Hiroki Igarashi, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

66 Citations (Scopus)

Abstract

To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2" . It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	3877-3882
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.364073
Publication status	Published - Nov 27 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.364073

Cite this

Miyanaka, H., Wada, N., Kamegawa, T., Sato, N., Tsukui, S., Igarashi, H., & Matsuno, F. (2007). Development of an unit type robot "KOHGA2" with stuck avoidance ability. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 3877-3882). Article 4209691 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364073

Development of an unit type robot "KOHGA2" with stuck avoidance ability. / Miyanaka, Hitoshi; Wada, Norihiko; Kamegawa, Tetsushi et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3877-3882 4209691 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Miyanaka, H, Wada, N, Kamegawa, T, Sato, N, Tsukui, S, Igarashi, H & Matsuno, F 2007, Development of an unit type robot "KOHGA2" with stuck avoidance ability. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209691, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3877-3882, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.364073

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Development of an unit type robot "KOHGA2" with stuck avoidance ability

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