Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter
Mariko Inazawa,Tatsuya Takemori,Motoyasu Tanaka,Fumitoshi Matsuno,Mariko Inazawa,Tatsuya Takemori,Motoyasu Tanaka,Fumitoshi Matsuno
A method for designing the motion of a snake robot negotiating complicated pipe structures having a constant diameter is presented. For such robots moving inside pipes, there are various "obstacles" such as junctions, bends, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures of a constant diameter. We designed the tar...
