Kamilo Melo, L. Paez, Monica Hernandez, Alexandra Velasco, F. Calderon, C. Parra
{"title":"模块化蛇形机器人在扫雷任务中的初步研究","authors":"Kamilo Melo, L. Paez, Monica Hernandez, Alexandra Velasco, F. Calderon, C. Parra","doi":"10.1109/LARC.2011.6086814","DOIUrl":null,"url":null,"abstract":"This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mined scenario. That is why, the main research efforts have been done on locomotion. Several contributions on this area are reported including gaits like: closed chain rolling, lateral rolling and a gait that use a helix shape both on the outside of cylinders. Another gait studied regards the swing movement of a modular robot chain hanging from one of its end modules. Contributions on robot architecture are reported here, including a distributed model predictive control and a multi-camera and sensor fusion. The perception problem of these robots also are researched by our lab and a pair of developments are shown here.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":"{\"title\":\"Preliminary studies on modular snake robots applied on de-mining tasks\",\"authors\":\"Kamilo Melo, L. Paez, Monica Hernandez, Alexandra Velasco, F. Calderon, C. Parra\",\"doi\":\"10.1109/LARC.2011.6086814\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mined scenario. That is why, the main research efforts have been done on locomotion. Several contributions on this area are reported including gaits like: closed chain rolling, lateral rolling and a gait that use a helix shape both on the outside of cylinders. Another gait studied regards the swing movement of a modular robot chain hanging from one of its end modules. Contributions on robot architecture are reported here, including a distributed model predictive control and a multi-camera and sensor fusion. The perception problem of these robots also are researched by our lab and a pair of developments are shown here.\",\"PeriodicalId\":419849,\"journal\":{\"name\":\"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-11-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"17\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/LARC.2011.6086814\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/LARC.2011.6086814","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Preliminary studies on modular snake robots applied on de-mining tasks
This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mined scenario. That is why, the main research efforts have been done on locomotion. Several contributions on this area are reported including gaits like: closed chain rolling, lateral rolling and a gait that use a helix shape both on the outside of cylinders. Another gait studied regards the swing movement of a modular robot chain hanging from one of its end modules. Contributions on robot architecture are reported here, including a distributed model predictive control and a multi-camera and sensor fusion. The perception problem of these robots also are researched by our lab and a pair of developments are shown here.