SNAKE ROBOTS

TO THE RESCUE!

Presented By
garima
Roll no-10012063
 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
• 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

 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 Real world Action
collector transm: interface command

1.Seisometer 1.Traffic signals

2.Tsunamimeters 2.Eletricity controls
3.Vedio camers 3.Rescue robots
 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  Stepping motor

Material  Alluminium alloy
Dimension  82*82*67 cubic mm
Weight  300g
Max: Torque  20kgf/cm
Max: angle ve-  50degrees per sec:
locity
 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.
 References
• Snake Robots to the Rescue : by Aydan
M.Erkmen, Ranjaith Chatterjee and Tetsushi
Kamegawa

• Working with Robots in disasters : by Tomoichi

takahashi and Satoshi Tadokoro

• Be Prepared : by Louise K.Comfort

• www.snakerobots.com
QUESTIONS
THANK YOU