Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention |
| |
| Authors: | Motoyasu Tanaka Kazuyuki Kon Mizuki Nakajima Nobutaka Matsumoto Shinnosuke Fukumura Kosuke Fukui |
| |
| Affiliation: | 1. Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Tokyo, Japanmtanaka@uec.ac.jp https://orcid.org/0000-0002-3717-8852;3. National Security Solutions Division, NEC Corporation, Tokyo, Japanhttps://orcid.org/0000-0002-1401-1953;4. Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Tokyo, Japanhttps://orcid.org/0000-0002-8643-7187;5. Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, The University of Electro-Communication, Chofu, Tokyo, Japan |
| |
| Abstract: | AbstractIn 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. |
| |
| Keywords: | Articulated mobile robot snake robot plant inspection stairs |
|
|
![ORCID Icon]({"type":"image","src":"/templates/jsp/images/orcid.png"} "ORCID Icon")
https://orcid.org/0000-0002-3717-8852;3. National Security Solutions Division, NEC Corporation, Tokyo, Japan