Development of the snake-like rescue robot "KOHGA"

Tetsushi Kamegawa, Tatsuhiro Yamasaki, Hiroki Igarashi, Fumitoshi Matsuno

Research output: Contribution to journalConference articlepeer-review

182 Citations (Scopus)


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 languageEnglish
Pages (from-to)5081-5086
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number5
Publication statusPublished - Jan 1 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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