Stuck evasion control for active-wheel passive-joint snake-like mobile robot ´genbu´

Author

Kimura, H. ; Hirose, S. ; Shimizu, K.

Author_Institution

Tokyo Institute of Technology

Volume

5

fYear

2004

fDate

April 26 2004-May 1 2004

Firstpage

5087

Lastpage

5092

Abstract

The snake-like robots of the ´Genbu´ series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several problems, such as stuck condition, due to the passive joints. These are good proper-ties for fire-fighting robots or planetary rovers. Genbu 3, developed in this study, could climb a 280mm vertical wall whereas the diameter of the wheel is 250mm. This paper de-scribes automatic stuck detection algorithm and stuck avoidance methods. Para-skid steering is also described. Results of experiments with Genbu 3 are presented and discussed in order to verify these methods.

Keywords

Costs; Detection algorithms; Fires; Hoses; Mobile robots; Orbital robotics; Prototypes; Robotics and automation; Space vehicles; Wheels; AW-PJ robots; Genbu; snake-like robots; stuck avoidance;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

Conference_Location

New Orleans, LA, USA

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1302524

Filename

1302524