@article{oai:uec.repo.nii.ac.jp:00009683,
 author = {Tanaka, Motoyasu and Kon, Kazuyuki and Nakajima, Mizuki and Matsumoto, Nobutaka and Fukumura, Shinnosuke and Fukui, Kosuke and Sawabe, Hidemasa and Fujita, Masahiro and Tadakuma, Kenjiro},
 issue = {2},
 journal = {Advanced Robotics},
 month = {Oct},
 note = {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.},
 pages = {70--88},
 title = {Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention},
 volume = {34},
 year = {2019}
}