Development of an unit type robot "KOHGA2" with stuck avoidance ability
Hitoshi Miyanaka, Norihiko Wada, Tetsushi Kamegawa, Noritaka Sato, Shingo Tsukui, H. Igarashi, Fumitoshi Matsuno
- Year
- 2007
- Citations
- 71
Abstract
To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.
Keywords
Related papers
Statistical Learning Theory
Yuhai Wu, Vladimir Vapnik
1999
Artificial intelligence: a modern approach
1995
Fractional Differential Equations
Igor Podlubný
2025
Applied Nonlinear Control
Jean-Jacques Slotine, Weiping Li
1991