Study of Mechanism and Control of Terrain-Adaptive Amphibious Snake-like Robots

• Project/Area Number: 18206026
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: HIROSE Shigeo Tokyo Institute of Technology, 大学院・理工学研究科, 教授 (70108215)
• Co-Investigator(Kenkyū-buntansha): FUKUSHIMA E.Fumihiko 東京工業大学, 大学院・理工学研究科, 准教授 (80262301) ; 森 淳 東京工業大学, 大学院理工学研究科, 研究員 (00422535)
• Project Period (FY): 2006 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥48,750,000 (Direct Cost: ¥37,500,000、Indirect Cost: ¥11,250,000); Fiscal Year 2009: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000); Fiscal Year 2008: ¥11,050,000 (Direct Cost: ¥8,500,000、Indirect Cost: ¥2,550,000); Fiscal Year 2007: ¥13,390,000 (Direct Cost: ¥10,300,000、Indirect Cost: ¥3,090,000); Fiscal Year 2006: ¥15,860,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥3,660,000)
• Keywords: ヘビ型ロボット / 水陸両用ロボット / 環境適応 / 索状体能動体 / 配管検査 / レスキューロボット / 多関節機構 / 蛇行推進 / 索状能動体

Research Abstract

This project aimed at systematization of the applicant's over 30 years of research on snake-like robots and development of a system of practical use which reflects both recent technological innovations and our past research achievements. We have successfully developed its morphological and mechanical theoretical frameworks, and have laid out the basis for its design and control frameworks. We also developed several multi-joint sensors and three robots that will provide the basis for the system of practical use which we aim to develop.

Research Products

• [Journal Article] ループ型移動が可能な索状能動ACM-R7の機構と制御の研究 (2010)
  • Author(s): 大橋太朗、山田浩也、広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.28(印刷中)
  • Peer Reviewed
• [Journal Article] ヘビ型ロボットの移動機構 (2010)
  • Author(s): 広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.28 Pages: 151-155
  • NAID: 10026090333
• [Journal Article] Approximations to Continuous Curves of Active Cord Mechanism Made of Arc-shaped joints or Double Joints (2010)
  • Author(s): H. Yamada, S. Hirose
  • Journal Title: Proceeding of 2010 IEEE International Conference on Robotics and Automations Pages: 703-708
  • Peer Reviewed
• [Journal Article] ヘビ型ロボットの移動機構 (2010)
  • Author(s): 広瀬茂男
  • Journal Title: 日本ロボット学会誌 28 Pages: 151-155
  • NAID: 10026090333
• [Journal Article] Study of 2-DOF Joint for the Small Active Cord Mechanism (2010)
  • Author(s): H.Yamada, S.Hirose
  • Journal Title: Proceeding of 2009 IEEE International Conference on Robotics and Automations Pages: 3827-3832
  • Peer Reviewed
• [Journal Article] 3 Axial Force Sensor for a Semi-Autonomous Snake Robot (2010)
  • Author(s): 広瀬茂男
  • Journal Title: Proceeding of 2009 IEEE International Conference on Robotics and Automations Pages: 4057-4062
  • Peer Reviewed
• [Journal Article] Study of 2-DOF Joint for the Small Active Cord Mechanism (2009)
  • Author(s): H. Yamada, S. Hirose
  • Journal Title: Proceeding of 2009 IEEE International Conference on Robotics and Automations Pages: 3827-3832
  • Peer Reviewed
• [Journal Article] 3 Axial Force Sensor for a Semi-Autonomous Snake Robot (2009)
  • Author(s): S. Taal, H. Yamada, S. Hirose
  • Journal Title: Proceeding of 2009 IEEE International Conference on Robotics and Automations Pages: 4057-4062
  • Peer Reviewed
• [Journal Article] Snake-Like Robots-Machine Design of Biologically Inspired Robots- (2009)
  • Author(s): S. Hirose, H. Yamada
  • Journal Title: IEEE Robotics and Automation Magazine Vol.16 Pages: 88-98
  • Peer Reviewed
• [Journal Article] Snake-Like Robots, Machine Design of Biologically Inspired Robots (2009)
  • Author(s): Shigeo Hirose, Hiroya Yamada
  • Journal Title: IEEE Robotics & Automation Magazine 16, 1 Pages: 88-98
• [Journal Article] Snake-Like Robots -Machine Design of Biologically Inspired Robots- (2009)
  • Author(s): S. Hirose, H. Yamada
  • Journal Title: IEEE Robotics and Automation Magazine 16 Pages: 88-98
  • Peer Reviewed
• [Journal Article] 索状能動体の研究-一般化されたACM移動力学の基礎式とsinus-lifting滑走の解析- (2008)
  • Author(s): 山田浩也、広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.26 Pages: 801-811
  • NAID: 120006582007
  • Peer Reviewed
• [Journal Article] A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism-Slime model 1 ACM-S1 (2008)
  • Author(s): S. Sugita, K. Ogami, G. Michele, S. Hirose, K. Takita
  • Journal Title: Journal of Robotics and Mechatronics Vol.20 Pages: 302-310
  • Peer Reviewed
• [Journal Article] 索状能動体の研究-多関節体幹による連続曲線近似法- (2008)
  • Author(s): 山田浩也、広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.26 Pages: 110-120
  • NAID: 120006581875
  • Peer Reviewed
• [Journal Article] 索状能動体の研究-般化されたACM移動力学の基礎式とsinus-lifting滑走の解析- (2008)
  • Author(s): 山田浩也, 広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.26 Pages: 801-811
  • Peer Reviewed
• [Journal Article] 索状能動体の研究-多関節体幹による連続曲線近似法- (2008)
  • Author(s): 山田浩也, 広瀬茂男
  • Journal Title: 日本ロボット学会誌 Vol.26 Pages: 110-120
  • NAID: 120006581875
  • Peer Reviewed
• [Journal Article] A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism - Slime model 1 ACM-S1 (2008)
  • Author(s): S. Sugita, K. Ogami, G. Michele, S. Hirose, K. Takita
  • Journal Title: Journal of Robotics and Mechatronics 20 Pages: 302-310
  • Peer Reviewed
• [Journal Article] 索状能動体の研究- 一般化されたACM移動力学の基礎式とsinus-lifting滑走の解析- (2008)
  • Author(s): 山田浩也, 広瀬茂雄
  • Journal Title: 日本ロボット学会誌 26 Pages: 801-811
  • NAID: 120006582007
  • Peer Reviewed
• [Journal Article] 索状能動体の研究-多関節体幹による連続曲線近似法- (2008)
  • Author(s): 山田浩也, 広瀬茂男
  • Journal Title: 日本ロボット学会誌 26 Pages: 110-120
  • NAID: 120006581875
  • Peer Reviewed
• [Journal Article] Stabilization of the head of an undulating snake-like robot (2007)
  • Author(s): H. Yamada, S. Hirose
  • Journal Title: Proceeding of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 3566-3571
  • Peer Reviewed
• [Presentation] Approximations to Continuous Curves of Active Cord Mechanism Made of Arc-shaped joints or Double Joints (2010)
  • Author(s): H. Yamada, S. Hirose
  • Organizer: 2010 IEEE International Conference on Robotics and Automations
  • Place of Presentation: Anchorage, U.S.A.
  • Year and Date: 2010-05-04
• [Presentation] ビ型ロボットのLoop-Gait推進とその操舵制御の研究 (2009)
  • Author(s): 大橋太朗、山田浩也、広瀬茂男
  • Organizer: 第27階日本ロボット学会学術講演会
  • Place of Presentation: 神奈川県横浜市
  • Year and Date: 2009-09-17
• [Presentation] ヘビ型ロボットのLoop-Gait推進とその操舵制御の研究 (2009)
  • Author(s): 大橋太朗, 山田浩也, 広瀬茂男
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 神奈川県横浜市
  • Year and Date: 2009-09-17
• [Presentation] 直感的な操作系を持つアーム型索状能動体の研究 (2009)
  • Author(s): 山田浩也, 広瀬茂男
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 神奈川県横浜市
  • Year and Date: 2009-09-16
• [Presentation] Study of 2-DOF Joint for the Small Active Cord Mechanism (2009)
  • Author(s): H. Yamada, S. Hirose
  • Organizer: 2009 IEEE International Conference on Robotics and Automations
  • Place of Presentation: Kobe, Japan
  • Year and Date: 2009-05-16
• [Presentation] 3 Axial Force Sensor for a Semi-Autonomous Snake Robot (2009)
  • Author(s): S. Taal, H. Yamada, S. Hirose
  • Organizer: 2009 IEEE International Conference on Robotics and Automations
  • Place of Presentation: Kobe, Japan
  • Year and Date: 2009-05-16
• [Presentation] Study of 2-DOF Joint for the Small Active Cord Mechanism (2009)
  • Author(s): H.Yamada, S.Hirose
  • Organizer: 2009 IEEE International Conference on Robotics and Automations
  • Place of Presentation: 兵庫県神戸市
  • Year and Date: 2009-05-16
• [Presentation] 3 Axial Force Sensor for a Semi-Autonomous Snake Robot (2009)
  • Author(s): S.Taal, H.Yamada, S.Hirose
  • Organizer: 2009 IEEE International Conference on Robotics and Automations
  • Place of Presentation: 兵庫県神戸市
  • Year and Date: 2009-05-16
• [Presentation] ヘビ型ロボットの部分体幹浮上型推進の研究とcenter-liftingの提案 (2009)
  • Author(s): 山田浩也、広瀬茂男
  • Organizer: 第13回ロボティクスシンポジア
  • Place of Presentation: 北海道登別市
  • Year and Date: 2009-03-17
• [Presentation] 索状能動体の部分体幹浮上型滑走の考察とCenter-liftingの提案 (2009)
  • Author(s): 山田浩也, 広瀬茂男
  • Organizer: ロボティックスシンポジア第14回
  • Place of Presentation: 北海道登別市
  • Year and Date: 2009-03-15
• [Presentation] 索状能動体の部分体幹浮上型滑走の考察とCenter-liftingの提案 (2009)
  • Author(s): 山田浩也, 広瀬茂雄
  • Organizer: 第14回ロボティクスシンポジア
  • Place of Presentation: 北海道登別市
  • Year and Date: 2009-03-15
• [Presentation] ヘビ型ロボットのSidewinding運動の操舵制御の研究 (2008)
  • Author(s): 山田浩也, 広瀬茂雄
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 兵庫県神戸市
  • Year and Date: 2008-09-11
• [Presentation] Mechanism and basic motion control of Slime-type Active Cord Mechanism ACM-S1 (2008)
  • Author(s): S. Sugita, K. Ogami, G. Michele, K. Takita, S. Hirose
  • Organizer: 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control
  • Place of Presentation: Shinjuku-ku, Tokyo, Japan
  • Year and Date: 2008-07-06
• [Presentation] Mechanism and basic motion control of Slime-type Active Cord Mechanism ACM-S1 (2008)
  • Author(s): S. Sugita, K. Ogami, G. Michele, K. Takita, S. Hirose
  • Organizer: 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control
  • Place of Presentation: 東京都新宿区
  • Year and Date: 2008-07-06
• [Presentation] 大きな屈曲可動範囲を有する水陸両用ヘビ型ロボットACM-R7の設計に関する研究 (2008)
  • Author(s): 大橋太朗, 山田浩也, 広瀬茂男
  • Organizer: ロボティックスメカトロニクス講演会
  • Place of Presentation: 長野県長野市
  • Year and Date: 2008-06-08
• [Presentation] 大きな屈曲可動範囲を有する水陸両用ヘビ型ロボットACM-R7の設計に関する研究 (2008)
  • Author(s): 大橋太朗, 山田浩也, 広瀬茂雄
  • Organizer: ロボティクス・メカトロニクス講演会2008
  • Place of Presentation: 長野県長野市
  • Year and Date: 2008-06-08
• [Presentation] 二重関節を有するヘビ型ロボットの研究 (2008)
  • Author(s): 山田浩也、広瀬茂男
  • Organizer: 第12回ロボティクスシンポジア
  • Place of Presentation: 香川県琴平町
  • Year and Date: 2008-03-17
• [Presentation] 二重関節を有するヘビ型ロボットの研究 (2008)
  • Author(s): 山田浩也, 広瀬茂男
  • Organizer: 第13回ロボティクスシンポジア
  • Place of Presentation: 香川県琴平町
  • Year and Date: 2008-03-17
• [Presentation] Stabilization of the head of an undulating snake-like robot (2007)
  • Author(s): H. Yamada, S. Hirose
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: an Diego, U.S.A.
  • Year and Date: 2007-11-01
• [Presentation] Stabilization of the head of an undulating snake-like robot (2007)
  • Author(s): Hiroya Yamada, Shigeo Hirose
  • Organizer: Proc.IROS2007
  • Place of Presentation: San Diego, USA
  • Year and Date: 2007-10-27
• [Presentation] 力の釣り合いによるヘビの蛇行推進の解析 (2007)
  • Author(s): 山田浩也, 広瀬茂男
  • Organizer: 第25回日本ロボット学会学術講演会
  • Place of Presentation: 千葉県習志野市
  • Year and Date: 2007-09-14
• [Presentation] 屈曲伸縮型索状能動体ACM-S1の機構と移動方法に関する研究 (2007)
  • Author(s): 杉田沙織, 小上和訓, Guarnieri Michele, 広瀬茂男, 滝田謙介
  • Organizer: 第25回日本ロボット学会学術講演会
  • Place of Presentation: 千葉県習志野市
  • Year and Date: 2007-09-13
• [Presentation] 屈曲伸縮型索状能動体ACM-S1の機構と制御の研究 (2007)
  • Author(s): 小上和訓, 杉田沙織, Guarnieri Michele, 滝田謙介, 広瀬茂男
  • Organizer: ロボティクス・メカトロニクス講演会2007
  • Place of Presentation: 秋田県秋田市
  • Year and Date: 2007-05-12
• [Presentation] 頭部に接触センサーを有するヘビ型ロボットによる凹凸地形の移動 (2007)
  • Author(s): 山田浩也, 広瀬茂男
  • Organizer: ロボティクス・メカトロニクス講演会2007
  • Place of Presentation: 秋田県秋田市
  • Year and Date: 2007-05-12
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