日本ロボット学会誌
遠隔操作性を考慮した双頭ヘビ型レスキューロボットKOHGAの開発
亀川 哲志松野 文俊
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ジャーナル フリー

25 巻 (2007) 7 号 p. 1074-1081

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The long and thin snake-like robots have became popular for searching narrow spaces, such as debris of the collapsed buildings under the impact of large-scale disasters. Till now, most of the previous research efforts on snake-like robots have primarily focused on development of its mobility or its locomotion. In this research we present the development of a snake-like robot under remote control operation. The present paper gives a detailed description of the mechanism and the construction of the developed snake-like rescue robot KOHGA. This double headed snake-like rescue robot KOHGA can present an operator the image from the viewpoint of a robot's rear side by changing its form into scorpion shape mode. The usefulness of the scorpion mode is amply verified by performing several successful experiments.

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