Title :
Design and research of a new structure rescue snake robot with all body drive system
Author :
Junyao Gao ; Xueshan Gao ; Wei Zhu ; Jianguo Zhu ; Wei, Zhu
Author_Institution :
Astrospace Sci. & Eng. Sch., Intell. Robot. Inst., Beijing
Abstract :
After earthquake, many people are buried under ruins. Rescue is very important in the first 48 hours. Snake robot is a very useful tool in climbing into ruins to detect people. This paper designs a new snake robot with all body drive system based on rope system. All snake robot body has drive ropes to drive it move. It is simple in drive system and control system. Any point touched ground, wall or roof can have drive force. A force feed back system is in snake robot body. Snake robot knows all force it touching and know environment. Force feedback control is used to cross obstacle. Snake body can auto controlled to make a detour to avoid obstacle. This snake can climb into ruins to detect people and control is simple than other snake robots. It is a practical scheme in disaster rescue robot in earthquake ruins.
Keywords :
collision avoidance; control system synthesis; drives; earthquakes; force feedback; mobile robots; motion control; all body drive system; control system; disaster rescue robot; earthquake ruins; force feed back system; force feedback control; obstacle avoidance; point touched ground; rescue snake robot; rope system; snake robot body; Earthquakes; Force control; Force feedback; Intelligent robots; Medical robotics; Mobile robots; Orbital robotics; Robot sensing systems; Robotics and automation; Skin; earthquake; force feedback; rescue; snake robot;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798737
