Development of a snake-like robot realizing three dimensional motion with obstacle aided behavior

• Project/Area Number: 15K05898
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Okayama University
• Principal Investigator: Kamegawa Tetsushi 岡山大学, 自然科学研究科, 講師 (80432623)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
• Keywords: ヘビ型ロボット / 圧力センサ / 螺旋捻転運動 / 反射行動 / ３次元運動 / 接触センサ

Outline of Final Research Achievements

In this research, a snake-like robot aims to move in a complicated narrow space utilizing dynamical interaction with the surrounding environment. We have developed a new snake-like robot which can measure pressure around its whole body as well as can achieve make three dimensional movement. We have verified the robot can measure pressure in real time when it moves the inside of 200mm straight and bending pipes. We also studied an algorithm to change the shape reflectively in a pipe by pressure measured by a snake-like robot.

Research Products

• [Journal Article] ImPACT TRC 太索状ロボットの研究開発の現状と展望 (2017)
  • Author(s): 松野文俊，亀川哲志，竹森達也，田中基康，多田隈健二郎，鈴木陽介，坂東宜昭 ，糸山克寿，奥乃博，藤原始史
  • Journal Title: 日本ロボット学会誌 Volume: 35 Pages: 26-32
  • NAID: 130006855121
  • Peer Reviewed
• [Journal Article] Reactive motion for a snake-like robot in a crowded space (2015)
  • Author(s): Tetsushi Kamegawa, Tsubasa Watanabe, Suxiang Yuan and Akio Gofuku
  • Journal Title: International Journal of Nuclear Safety and Simulation Volume: 6 Pages: 109-115
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] 螺旋尺取り方式を用いて円柱を移動するヘビ型ロボットの提案 (2015)
  • Author(s): 亀川 哲志, 斉 偉, 五福 明夫
  • Journal Title: 計測自動制御学会論文集 Volume: 51 Pages: 8-15
  • NAID: 130004855718
  • Peer Reviewed
• [Presentation] Helical wave propagate motion on a vertical pipe with a branch for a snake robot (2017)
  • Author(s): Wei Qi, Tetsushi Kamegawa and Akio Gofuku
  • Organizer: The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
  • Int'l Joint Research
• [Presentation] Recognition of a Bending Pipe by a Snake Robot with Pressure Sensors Mounted on the Entire Circumference of the Robot’s Body (2017)
  • Author(s): Taichi Akiyama, Tetsushi Kamegawa, Yosuke Suzuki and Akio Gofuku
  • Organizer: The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics
  • Int'l Joint Research
• [Presentation] 螺旋捻転運動で配管内を移動するヘビ型ロボットの構築 (2017)
  • Author(s): 亀川 哲志， 斉 偉， 須原 大貴， 松田 絵梨子， 秋山 太一， 酒井 聡志
  • Organizer: 第８回横幹連合コンファレンス
• [Presentation] 全周に圧力センサを搭載したヘビ型ロボットによる曲管の認識 (2017)
  • Author(s): 秋山太一，亀川哲志，鈴木陽介，五福明夫
  • Organizer: ロボティクス・メカトロニクス講演会2017
• [Presentation] ヘビ型ロボットが配管内を螺旋捻転運動で推進する際の螺旋ピッチの影響 (2017)
  • Author(s): 須原大貴，亀川哲志，五福明夫
  • Organizer: ロボティクス・メカトロニクス講演会2017
• [Presentation] ヘビ型ロボットが螺旋捻転運動を用いて配管内を進む際の清掃能力の検証 (2017)
  • Author(s): 酒井聡志，亀川哲志，五福明夫
  • Organizer: ロボティクス・メカトロニクス講演会2017
• [Presentation] 螺旋捻転運動で配管を走破するヘビ型ロボットの開発 -接触圧力センサならびに音響位置推定センサとの統合と実証実験- (2017)
  • Author(s): 亀川哲志，斉偉，須原大貴，松田絵梨子，秋山太一，酒井聡志，竹森達也，藤原始史，松野文俊，鈴木陽介，坂東宜昭，奥乃博
  • Organizer: ロボティクス・メカトロニクス講演会2017
• [Presentation] Proposal of helical wave propagate motion for a snake robot to across a branch on a pipe (2016)
  • Author(s): Wei QI, Tetsushi KAMEGAWA and Akio GOFUKU
  • Organizer: IEEE/SICE International Symposium on System Integration
  • Place of Presentation: 札幌
  • Year and Date: 2016-12-14
  • Int'l Joint Research
• [Presentation] 100リンクヘビ型ロボットByacoの開発（ヘビ型ロボットの基本モーションの実装） (2015)
  • Author(s): 松田絵梨子，須原大貴，亀川哲志，五福明夫
  • Organizer: 第16回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2015-12-14
• [Presentation] 100リンクヘビ型ロボットByaco の開発(ハードウェアの構築) (2015)
  • Author(s): 須原大貴，松田絵梨子，亀川哲志，五福明夫
  • Organizer: 第16回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2015-12-14
• [Presentation] Simulation results of behavior of a simple snake-like robot in a narrow passage (2015)
  • Author(s): Tsubasa Watanabe, Tetsushi Kamegawa, Akio Gofuku
  • Organizer: Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics
  • Place of Presentation: Kyoto, Japan
  • Year and Date: 2015-10-28
  • Int'l Joint Research
• [Presentation] Development of a prototype of snake-like robot with contact sensors that moves in obstacles by reflexive behavior (2015)
  • Author(s): Suxiang Yuan, Tetsushi Kamegawa, Akio Gofuku
  • Organizer: Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics
  • Place of Presentation: Kyoto, Japan
  • Year and Date: 2015-10-28
  • Int'l Joint Research
• [Presentation] ヘビ型ロボットによる配管渡りモーションの提案 (2015)
  • Author(s): 小松信，亀川哲志，五福明夫
  • Organizer: ロボティクス・メカトロニクス講演会2015
  • Place of Presentation: 京都
  • Year and Date: 2015-05-17
• [Remarks] 亀川哲志のHP
  • URL: http://www.mif.sys.okayama-u.ac.jp/~kamegawa/
• [Remarks] 亀川哲志のホームページ
  • URL: http://www.mif.sys.okayama-u.ac.jp/~kamegawa/