Document Sample
SNAKE ROBOTS TO THE RESCUE - PowerPoint Powered By Docstoc

 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
  in dealing with disasters

 Utilization of robotics
  technology for human
  assistance in any phase
  of rescue operations

 Detection and
  identification of living
 Functions of Rescue Robots

 Detection and
  identification of living

 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

 Retrieval of bodies can generate extra injuries
Requirments of Rescue Robots

              Basic Real Disaster
Disaster infromation   Real world        Action
collector transm:      interface        command

   1.Seisometer                     1.Traffic signals
   2.Tsunamimeters                  2.Eletricity controls
   3.Vedio camers                   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
               1)Move forward with rectilinear
 or lateral motion.
               2)Move right/left with flapping
               3)Change of direction.
  Specification of prototype

Actutor           Stepping motor
Material          Alluminium alloy
Dimension         82*82*67 cubic mm
Weight            300g
Max: Torque       20kgf/cm
Max: angle ve-    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
 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
 to find the optimal set of those k configuration
  sequences through which the robot shape is to be

 Each configuration describes the sequence of
  relative joint angles of the body.
 The whole structure is encoded as :

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.
   Snake Robots to the Rescue : by Aydan
    M.Erkmen, Ranjaith Chatterjee and Tetsushi

   Working with Robots in disasters : by
    Tomoichi takahashi and Satoshi Tadokoro

   Be Prepared : by Louise K.Comfort