Transcript SNAKE ROBOTS TO THE RESCUE

SNAKE ROBOTS
TO THE RESCUE!
Introduction
 Intelligent robots in SAR dealing with tasks in complex
disaster environments
 Autonomy, high mobility, robustness, modularity
 Biologically inspired mobile robots
 Serpentine search robot hardware, sensor based path
planning and control design
Rescue Robots
 Government’s Inadequate
preparedness
in dealing with disasters
 Utilization of robotics
technology for human
assistance in any phase
of rescue operations
 Detection and
identification of living
bodies
Functions of Rescue Robots
 Detection and
identification of living
bodies
 Clearing of debris in
accessing the victim
 Physical,emotional and
medical stabilization by
him/her for first aid
 Transportation of victim
The Major Rescue Problems
 Generally destructive tools
 Heavy construction of debris clearing machines
 Slow and tedious tool operation
 Search based on sniffing dogs and human
voices
 Retrieval of bodies can generate extra injuries
Requirments of Rescue Robots
Basic Real Disaster
Disaster infromation
collector transm:
1.Seisometer
2.Tsunamimeters
3.Vedio camers
Real world
interface
Action
command
1.Traffic signals
2.Eletricity controls
3.Rescue robots
 Virtual experience and traning
 Conditioning of optimal action in disaster
 Action simulator of parties of rescue,fire,fighters
and back supports
 Equipped with multitude of sensors
Snake robotsSensor based
online path planning
 Multisensor based on line
path planning
 Six identical segments –
two way,two DOF,
total 12controllable DOF
 Ultrasound sensor,12
infrared sensors and
thermal camera
Different types of movement
It is achived by adapting the natural snake
motions to the multisegment robot
configuraion:
1)Move forward with rectilinear
or lateral motion.
2)Move right/left with flapping
motion.
3)Change of direction.
Specification of prototype
Actutor

Material

Dimension

Weight

Max: Torque 
Max: angle ve- 
locity
Stepping motor
Alluminium alloy
82*82*67 cubic mm
300g
20kgf/cm
50degrees per sec:
Development of Prototype Mechanism

Effectively adapt to uncertain circumstances
and carry activates with necessary flexibility
 Twisting mode:
-folds certain joints to generate a twisting motion
-within its body, resulting in a side-wise movement
 Wheeled-locomotion mode:
-where passive wheels are attached on units
-increasing the friction
 Bridge mode:
-two-legged walking-type locomotion
-left-right swaying of the center of gravity
 Ring mode:
- two ends of the robot body are brought together by
its own actuation to form a circular shape
-uneven circular shape rotate is expected to be
achieved by proper deformation and shifting of
center of gravity as necessary.
 Inching mode:
-undulatory movements of serpentine mechanisms
-generates a vertical wave shape using its units
A GA Based Planning of Shape
Transition
 Transform shape of hyper redundant robotic
mechanism, without losing structural stability
proper planning methodology is essential.
 The desired result is to make robot stand on its
two ends in vertical position.
 The transformation from the initial to the final
configuration is divided in k intermediate
configurations
 to find the optimal set of those k configuration
sequences through which the robot shape is to be
transformed
 Each configuration describes the sequence of
relative joint angles of the body.
 The whole structure is encoded as :
Conclusion
Aiming at the enhancing the quality of
rescue and life after rescue, the field of
rescue robotics is seeking dexterous devices
that are equipped with learning ability ,
adaptable to various types of situations.
Research and development are going on for
further modification of rescue robots.
Considering various natural disasters and
man-made catastrophes need for rescue
robots is focused.
QUESTIONS
THANK YOU