Development of the snake-like rescue robot "KOHGA"

被引：122
|
作者：
Kamegawa, T [1 ]
Yamasaki, T [1 ]
Igarashi, H [1 ]
Matsuno, F [1 ]
机构：
[1] Tokyo Inst Technol, Midori Ku, Yokohama, Kanagawa 227, Japan
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1302523
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we report the development of a new rescue robot platform. The robot is constructed by connecting multiple crawler vehicles serially, resulting a long and thin structure so that it can enter narrow space. The units are connected by 2-DOF active joints and 3-DOF passive joints, so that the robot can have both the capability to climb over obstacles as well as adaptation to irregular surfaces. Basic steering and experiments for the robot are also shown.
引用
收藏
页码：5081 / 5086
页数：6
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