Design of practical snake vehicle: articulated body mobile robot KR-II

Hirose, Shigeo; Morishima, Akio; Tukagosi, S.; Tsumaki, Toshimichi; Monobe, Hiroki

doi:10.1109/icar.1991.240571

Cited by 53 publications

(17 citation statements)

References 6 publications

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“…As our work is focused on serpentine robots we will limit the following literature review to this scope. The first practical realization of a serpentine robot, called KR-I, was introduced by Hirose and Morishima (1990) and later improved with version KR-II (Hirose et al, 1991). This first serpentine robot was large and heavy, weighing in at 350 kg.…”

Section: Serpentine Robotsmentioning

confidence: 99%

Serpentine Robots for Industrial Inspection and Surveillance

Granosik¹,

Hansen²

2006

Industrial Robotics: Programming, Simulation and Applications

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Section: Serpentine Robotsmentioning

confidence: 99%

Serpentine Robots for Industrial Inspection and Surveillance

Granosik¹,

Hansen²

2006

Industrial Robotics: Programming, Simulation and Applications

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“…The other important application for hypermobile robots are inspection tasks in sewage systems, gas pipes or venting systems. The first practical realization of a hypermobile robot, called Koryu or KR-I, was introduced by Hirose and Morishima (1990) and later improved with version KR-II (Hirose et al, 1991), as shown in Fig. 3.…”

Section: History Of Hypermobile Robotsmentioning

confidence: 99%

Hypermobile Robots

Granosik¹

2008

New Approaches in Automation and Robotics

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“…The first active skin serpentine robot, called KR-I, was introduced by Hirose and Morishima (1990) and the improved version KR-II was presented by Hirose et al (1991). The KR-I was large and heavy, weighing in at 350 kg.…”

Section: Introductionmentioning

confidence: 99%

The OmniTread OT‐4 serpentine robot—design and performance

Borenstein

Hansen

Borrell

2007

Journal of Field Robotics

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Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than conventional mobile robots. Serpentine robots are ideally suited for urban search and rescue, military intelligence gathering, and for inspection tasks in hazardous or inaccessible environments. One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by six joints. The OT-4 can climb over obstacles that are much higher than the robot itself, propel itself inside pipes of different diameters, and traverse difficult terrain, such as rocks or the rubble of a collapsed structure.The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. The pneumatic bellows allow the simultaneous control of position and stiffness for each joint is important in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion.Another unique feature of the OmniTread design is the coverage of all four sides of each segment with driven tracks. This design makes the robot indifferent to roll-overs, which are bound to happen when the slender bodies of serpentine robots travel over rugged terrain.

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Design of practical snake vehicle: articulated body mobile robot KR-II

Cited by 53 publications

References 6 publications

Serpentine Robots for Industrial Inspection and Surveillance

Serpentine Robots for Industrial Inspection and Surveillance

Hypermobile Robots

The OmniTread OT‐4 serpentine robot—design and performance

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