TY - GEN
T1 - Three-Dimensional Reflexive Behavior by a Snake Robot with Full Circumference Pressure Sensors
AU - Kamegawa, Tetsushi
AU - Akiyama, Taichi
AU - Suzuki, Yosuke
AU - Kishutani, Toru
AU - Gofuku, Akio
N1 - Funding Information:
This research was funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan) and JSPS KAKENHI Grant Number 15K05898.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - The movements of snake robots are often studied in specific environments, such as two-dimensional planes, the insides or outsides of pipes, or through water. However, snake robots are also expected to be deployed in more complex environments such as disaster sites, which require more adaptability than simple environments. To realize adaptability, a snake robot needs reflective behavior in its control system for obstacle encounters. Although obstacle-adaptation methods have been proposed, most of them are limited to two-dimensional movement. This research proposes a reflexive behavior that adapts to obstacles by changing the curvature of the snake robot in a three-dimensional environment. To apply and verity the proposed method, we developed a snake robot with full-circumference pressure sensors, and moved it along a pipe by a helicoidal rolling motion. The experimental result showed that the snake robot can adapt to an obstacle by adopting reflexive behavior.
AB - The movements of snake robots are often studied in specific environments, such as two-dimensional planes, the insides or outsides of pipes, or through water. However, snake robots are also expected to be deployed in more complex environments such as disaster sites, which require more adaptability than simple environments. To realize adaptability, a snake robot needs reflective behavior in its control system for obstacle encounters. Although obstacle-adaptation methods have been proposed, most of them are limited to two-dimensional movement. This research proposes a reflexive behavior that adapts to obstacles by changing the curvature of the snake robot in a three-dimensional environment. To apply and verity the proposed method, we developed a snake robot with full-circumference pressure sensors, and moved it along a pipe by a helicoidal rolling motion. The experimental result showed that the snake robot can adapt to an obstacle by adopting reflexive behavior.
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U2 - 10.1109/SII46433.2020.9026245
DO - 10.1109/SII46433.2020.9026245
M3 - Conference contribution
AN - SCOPUS:85082574888
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 897
EP - 902
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -