Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention. (17th January 2020)

• Record Type: Journal Article
• Authors: Tanaka, Motoyasu; Kon, Kazuyuki; Nakajima, Mizuki; Matsumoto, Nobutaka; Fukumura, Shinnosuke; Fukui, Kosuke; Sawabe, Hidemasa; Fujita, Masahiro; Tadakuma, Kenjiro
• Is Part Of: Advanced robotics. Volume 34:Number 2(2020)
• Page Start: 70
• Page End: 88
• Publication Date: 2020-01-17
• Subjects: Articulated mobile robot -- snake robot -- plant inspection -- stairs; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2019.1680316
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed. GRAPHICAL ABSTRACT: