Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter
Mariko Inazawa, Tatsuya Takemori, Motoyasu Tanaka, Fumitoshi Matsuno
Abstract
A method for designing the motion of a snake robot negotiating complicated pipe structures having a constant diameter is presented. For such robots moving inside pipes, there are various "obstacles" such as junctions, bends, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures of a constant diameter. We designed the target form of the snake robot of two helices connected with an arbitrary shape. This method is applicable to various obstacles by designing a part of the target form conforming to the obstacle. The robot negotiates obstacles under shift control by employing a rolling motion. We demonstrated the effectiveness of the proposed method in various experiments.
BibTeX
@inproceedings{icra2020_motiondesignfora,
title = {Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter},
author = {Mariko Inazawa and Tatsuya Takemori and Motoyasu Tanaka and Fumitoshi Matsuno},
booktitle = {ICRA 2020},
year = {2020}
}