ImPACT TRCにおけるタフなヘビ型ロボットの開発

亀川 哲志; 斉 偉; 須原 大貴; 松田 絵梨子; 秋山 太一; 酒井 聡志; 宇根 和志; 竹森 達也; 藤原 始史; 松野 文俊; 鈴木 陽介; 坂東 宜昭; 糸山 克寿; 奥乃 博

doi:10.1299/jsmermd.2018.2A2-K05

2018

Session ID : 2A2-K05

DOI https://doi.org/10.1299/jsmermd.2018.2A2-K05

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 02, 2018 - June 05, 2018

Development of Tough Snake Robot in ImPACT Tough Robotics Challenge

*Tetsushi KAMEGAWA, Wei QI, Hiroki SUHARA, Eriko MATSUDA, Taichi AKIYAMA, Satoshi SAKAI, Kazushi UNE, Tatsuya TAKEMORI, Tomofumi FUJIWARA, Fumitoshi MATSUNO, Yosuke SUZUKI, Yoshiaki BANDO, Katsutoshi ITOYAMA, Hiroshi G. OKUNO

Author information

*Tetsushi KAMEGAWA
Okayama Univ.
Wei QI
Okayama Univ.
Hiroki SUHARA
Okayama Univ.
Eriko MATSUDA
Okayama Univ.
Taichi AKIYAMA
Okayama Univ.
Satoshi SAKAI
Okayama Univ.
Kazushi UNE
Okayama Univ.
Tatsuya TAKEMORI
Kyoto Univ.
Tomofumi FUJIWARA
Kyoto Univ.
Fumitoshi MATSUNO
Kyoto Univ.
Yosuke SUZUKI
Kanazawa Univ.
Yoshiaki BANDO
Kyoto Univ.
Katsutoshi ITOYAMA
Kyoto Univ.
Hiroshi G. OKUNO
Waseda Univ.

Keywords: Snake robot, Helical rolling motion, Pipe inspection, Tough Robotics Challenge

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

We are developing snake robots as a solution for inspection of plants. The snake robots are constructed by connecting pitch axis and a yaw axis alternately. The snake robots realize various locomotion mode. Especially, helical rolling motion is utilized to move inside and outside of a pipe. In this paper, designed and system of the snake robots are described in addition to experimental results conducted in test field of Tough Robotics Challenge.

Corresponding author

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