Development and field test of the articulated mobile robot T(2)Snake-4 for plant disaster prevention

Tanaka Motoyasu; Kon Kazuyuki; Nakajima MizukiMatsumoto NobutakaFukumura ShinnosukeFukui KosukeSawabe HidemasaFujita MasahiroTadakuma Kenjiro

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Development and field test of the articulated mobile robot T(2)Snake-4 for plant disaster prevention

机译：Development and field test of the articulated mobile robot T(2)Snake-4 for plant disaster prevention

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In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.

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来源
《Advanced Robotics: The International Journal of the Robotics Society of Japan》 |2020年第2期|70-88|共19页
作者
Tanaka Motoyasu; Kon Kazuyuki; Nakajima MizukiMatsumoto NobutakaFukumura ShinnosukeFukui KosukeSawabe HidemasaFujita MasahiroTadakuma Kenjiro;
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作者单位

Univ Electrocommun, Grad Sch Informat Sci & Engn, Dept Mech Intelligent Syst Engn, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan;

NEC Corp Ltd, Natl Secur Solut Div, Tokyo, Japan;

Tohoku Univ, Dept Appl Informat Sci, Grad Sch Informat Sci, Aoba Ku, Sendai, Miyagi, Japan;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Articulated mobile robot; snake robot; plant inspection; stairs;

Development and field test of the articulated mobile robot T(2)Snake-4 for plant disaster prevention

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