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Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures
https://uec.repo.nii.ac.jp/records/10090
https://uec.repo.nii.ac.jp/records/100901ca19e96-2503-4e85-b82f-498bf89bd27a
名前 / ファイル | ライセンス | アクション |
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UnifiedApproach (5.1 MB)
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CC BY
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2022-02-03 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Unified Approach to the Motion Design for a Snake Robot Negotiating Complicated Pipe Structures | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | snake robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | pipe inspection | |||||
キーワード | ||||||
言語 | en | |||||
主題 | bio-inspired robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | redundant robots | |||||
キーワード | ||||||
言語 | en | |||||
主題 | motion design | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Inazawa, Mariko
× Inazawa, Mariko× Takemori, Tatsuya× Tanaka, Motoyasu× Matsuno, Fumitoshi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | A unified method for designing the motion of a snake robot negotiating complicated pipe structures is presented. Such robots moving inside pipes must deal with various “obstacles,” such as junctions, bends, diameter changes, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures in a unified way. This method also applies to motion that is necessary to pass between the inside and the outside of a pipe. We designed the target form of the snake robot using two helices connected by an arbitrary shape. This method can be applied to various obstacles by designing a part of the target form specifically for given obstacles. The robot negotiates obstacles under shift control by employing a rolling motion. Considering the slip between the robot and the pipe, the model expands the method to cover cases where two helices have different properties. We demonstrated the effectiveness of the proposed method in various experiments. | |||||
書誌情報 |
en : Frontiers in Robotics and AI 巻 8, 発行日 2021-05-03 |
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出版者 | ||||||
出版者 | Frontiers | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 22969144 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.3389/frobt.2021.629368 | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.3389/frobt.2021.629368 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |