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ID 33064
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Author
Yang, Zhixiao
Ito, Kazuyuki
Hirotsune, Kazuyuki
Saijo, Kazuhiko
Gofuku, Akio Kakenhi
Matsuno, Fumitoshi
Abstract

We developed a snake rescue robot basing on the proposed mechanical intelligence. The mechanical intelligence is designed to avoid obstacles and to realize desired motions when the robot is navigated by a remote force feedback steering wheel interface. We use free joints to connect modules of the snake robot. Modules can freely turn according to their neighbors. An obstacle-avoiding wheel is mounted on the head of the snake robot. When the head encounters an obstacle, the wheel touches it first to transfer the sliding friction between the wheel and the obstacle into rolling friction, so that the head avoid the obstacle easily. A metal wire is used to link gears mounted on both sides of each module. When any part of the snake robot's body encounters an obstacle, the wire length of each side varies automatically to change the robot's body shape, so that the snake robot avoids the obstacle. The wire length of each side can also be adjusted by a motor. By adjusting the wire length of each side, the snake robot can move in the desired direction. The mechanical intelligence based snake rescue robot has light body, low cost and low computation cost. Experiment results show that the designed mechanical intelligence is effective in realizing desired robot motions together with the force feedback steering wheel interface.

Keywords
Human Interface
Mechancial Intelligence
Navigation
Force Feedback Steering Wheel
Rescue Robot
Snake Robot.
Note
Digital Object Identifier: 10.1109/ROMAN.2004.1374739
Published with permission from the copyright holder. This is the institute's copy, as published in Robot and Human Interactive Communication, 2004. ROMAN 2004. 13th IEEE International Workshop on, 20-22Sept. 2004, Pages 113-118.
Publisher URL:http://dx.doi.org/10.1109/ROMAN.2004.1374739
Copyright © 2004 IEEE. All rights reserved.
Published Date
2004-09-20
Publication Title
Robot and Human Interactive Communication
Start Page
113
End Page
118
Content Type
Journal Article
language
英語
Refereed
True
DOI
Submission Path
mechanical_engineering/21