Browse > Article
http://dx.doi.org/10.7746/jkros.2013.8.4.247

Development of a Snake Robot for Unstructured Environment  

Shin, Hocheol (Korea Atomic Energy Research Institute)
Kim, Chang-Hoi (Korea Atomic Energy Research Institute)
Lee, Heung-Ho (Chung Nam National University)
Publication Information
The Journal of Korea Robotics Society / v.8, no.4, 2013 , pp. 247-255 More about this Journal
Abstract
This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.
Keywords
Snake robot; 1-DOF Actuator Module; Unstructured Environment; 3D Space;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 S. Hirose, Biologically inspired robots: snake-like locomotors and manipulators, Oxford University Press, Oxford, 1993.
2 G. Miller, Snake robots for search and rescue, Neurotechnology for biomimetic robots, MIT Press, Cambridge, MA, USA, London, pp.271-284, 2002. (Chapter)
3 C. Ye, S. Ma, B. Li, and Y. Wang, "Turning and side motion of snake-like robot", Proc. IEEE Int. Conf. Robotics and Automation 2004, New Orieance, LA, April, pp. 5075-5080, 2004
4 P. Liljeback, K.Y. Pettersen, O. Stavdahl, and J.T. Gravdahl, "A Review on Modeling, Implementation, and Control of Snake Robots", Robotics and Automation Systems, vol. 60, pp. 29-40, 2012.   DOI   ScienceOn
5 M. Lee, S. Yoo, J. Park and S. Kim, "Modular type robot for field moving and tree climbing", J. Institute of Control, Robotics and Systems, Vol. 18, No. 2, pp. 118-125, 2012.   과학기술학회마을   DOI   ScienceOn
6 C. Wright, A. Johnson, A. Peck, Z. McCord, A. Naaktgeboren, P. Gianfortoni, M. Gonzalez-Rivero, R. Hatton and H. Choset, "Design of a modular snake robot", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp 2609-2614, 2007.
7 C. Wright, A. Buchan, B. Brown, J. Geist, M. Schwerin, D. Rollinson, M. Tesch and H. Choset, "Design and Architecture of the Unified Modular Snake Robot", Proc. IEEE Int. Conf. Robotics and Automation (ICRA) 2012, pp. 4347-4354, 2012.
8 H. Yamada and S. Hirose, "Study of a 2-DOF Joint for the Small Active Cord Mechanism", Proc. IEEE Int. Conf. Robotics and Automation, pp. 3827-3832, 2009.
9 H. Shin, K.M. Jeong and J.J. Kwon, "Development of a Snake Robot with 2-DOF Actuator Modules", J. Institute of Control, Robotics and Systems, Vol. 17, No. 7, pp.697-703, 2011.   과학기술학회마을   DOI   ScienceOn
10 S. Kim, S. Jung, S. U. Lee, K. Jeong, S. Park, Y. H. Kang, and D. Ok, "Development of Disaster-Mitigation and Life-Saving Robot in Korea," 39th Int. Symposium of Robotics, Seoul, Korea, pp.472-476, Oct., 2008.
11 M. Tesch, K. Lipkin, I. Brown, R. Hatton, A. Peck, J. Rembisz and H. Choset, "Parameterized and Scripted Gaits for Modular Snake Robots", Advanced Robotics, Vol. 23, pp.1131-1158, 2009.   DOI
12 J.K. Hopkins, B.W. Spranklin, S.K. Gupta, "A survey of snake-inpired robot designs", Bionispiration and Biomimetics, Vol. 4, No. 2, 2009.