Abstract
Some snake like robots that connects plural vehicles in serial are studied as a rescue robot. These robots are expected to be able to connect various equipment according to a requirement for a disaster scene. However, in the case that the equipments adopt different standard, it is difficult to assemble them easily. Multiple vehicle connected snake like robot KOHGA developed in the previous work is using CAN communication between microcomputers for control. In this study, CANopen is adopted as communication protocol between microcomputers of KOHGA, aiming at modularity. CANopen is one of open networks based on CAN communication. In addition, the delay problem, when a command transmitted to the next vehicle, is improved by installing CANopen and constructing a new decentralized architecture for KOHGA.
