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ID 57751
Author
Kamegawa, Tetsushi Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Kaken ID
Akiyama, Taichi Graduate School of Natural Science and Technology, Okayama University
Sakai, Satoshi Graduate School of Natural Science and Technology, Okayama University
Fujii, Kento Graduate School of Natural Science and Technology, Okayama University
Une, Kazushi Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Ou, Eitou Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Matsumura, Yuto Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Kishutani, Toru Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Nose, Eiji Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Yoshizaki, Yusuke Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Gofuku, Akio Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Kaken ID researchmap
Abstract
In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.
Keywords
Separable robot
snake robot
mobile robot
urban search-and-rescue
multi-agent system
Note
This fulltext will be available in Nov 2020
Published Date
2019-11-19
Publication Title
Advanced Robotics
Publisher
TAYLOR & FRANCIS
ISSN
0169-1864
NCID
AA10679021
Content Type
Journal Article
language
英語
OAI-PMH Set
岡山大学
File Version
author
DOI
Web of Science KeyUT
Related Url
isVersionOf https://doi.org/10.1080/01691864.2019.1691941