Development of the snake-like rescue robot "KOHGA"

Tetsushi Kamegawa; Tatsuhiro Yamasaki; Hiroki Igarashi; Fumitoshi Matsuno

doi:10.1109/robot.2004.1302523

Development of the snake-like rescue robot "KOHGA"

Tetsushi Kamegawa, Tatsuhiro Yamasaki, Hiroki Igarashi, Fumitoshi Matsuno

Research output: Contribution to journal › Conference article › peer-review

182 Citations (Scopus)

Abstract

In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

Original language	English
Pages (from-to)	5081-5086
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	5
DOIs	https://doi.org/10.1109/robot.2004.1302523
Publication status	Published - Jan 1 2004
Externally published	Yes
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1302523

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abstract = "In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.",

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AU - Kamegawa, Tetsushi

AU - Yamasaki, Tatsuhiro

AU - Igarashi, Hiroki

AU - Matsuno, Fumitoshi

PY - 2004/1/1

Y1 - 2004/1/1

N2 - In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

AB - In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.

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M3 - Conference article

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SP - 5081

EP - 5086

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

Development of the snake-like rescue robot "KOHGA"

Abstract

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