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28 results on '"Takemori, Tatsuya"'

4. Gait Recovery for a Snake Robot With Multiple Failed Joints

Author

Elsayed, Belal A., Takemori, Tatsuya, and Matsuno, Fumitoshi

Abstract

This article introduces a recovery approach for a snake robot with multiple failed joints. The operational environments of snake robots are expected to cause high loads on the robot actuators, which may lead to the actuator malfunction problem. To solve this issue, we propose a recovery approach that enables a snake robot to restore its body shape to be close to its targeted form before failure. The restored body shape helps the robot to carry out the desired locomotion gait. To achieve this objective, we utilize the hyper-redundancy of a snake robot by controlling the adjacent joints of the failed one to form a so-called recovery part. This part of the robot works to eliminate the effect of the failed joint and reform the robot's shape. We extend our concept for a snake robot with multiple joint-failure by forming multiple recovery parts corresponding to the failed joints. We consider locked, free, and partially failed joint types. To compensate for the movement of failed joints, we propose a kinematic-based controller considering 2-D and 3-D shape-based motion gaits. We applied the proposed approach experimentally for three motion gaits, namely lateral undulation, sidewinding, and crawler gait. Several multiple failed-joint cases were considered, with different combinations of failed joints. The results showed the validity of the proposed method to eliminate the joints' failures effect, and thus, the robot can carry out the desired motion successfully.

Published
2024
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5. Development of Tough Snake Robot Systems

Author

Matsuno, Fumitoshi, Kamegawa, Tetsushi, Qi, Wei, Takemori, Tatsuya, Tanaka, Motoyasu, Nakajima, Mizuki, Tadakuma, Kenjiro, Fujita, Masahiro, Suzuki, Yosuke, Itoyama, Katsutoshi, Okuno, Hiroshi G., Bando, Yoshiaki, Fujiwara, Tomofumi, Tadokoro, Satoshi, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E, Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S, Advisory Editor, and Tadokoro, Satoshi, editor

Published
2019
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14. Adaptive Helical Rolling of a Snake Robot to a Straight Pipe With Irregular Cross-Sectional Shape

Author

Takemori, Tatsuya, Tanaka, Motoyasu, and Matsuno, Fumitoshi

Abstract

The snake robot, which mimics the mechanism of real snakes, is expected to be used in various environments. This article addresses the challenge of snake robots autonomously adapting to and moving inside and outside pipes having complex shapes using a helical rolling motion. We consider that an irregular helical form can be defined as a combination of three components, namely the axis, cross-sectional shape, and pitch angle, and that it is easier to consider deformations that have compliance only in a specific direction. Our proposed method deforms the cross-sectional shape of the snake robot locally so that it adopts the shape of the pipe accurately. Experiments were conducted using our developed snake robot to verify the effectiveness of the proposed method, and it was demonstrated that the proposed method can be used for a snake robot moving inside and outside of straight pipes and outdoor tree, including those having noncircular and varying cross sections.

Published
2023
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17. Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018

Author

Takemori, Tatsuya, primary, Miyake, Masato, additional, Hirai, Tomoaki, additional, Wang, Xixun, additional, Fukao, Yuto, additional, Adachi, Mau, additional, Yamaguchi, Kaiyo, additional, Tanishige, Suomi, additional, Nomura, Yusuke, additional, Matsuno, Fumitoshi, additional, Fujimoto, Toshiaki, additional, Nomura, Akito, additional, Tetsui, Hikaru, additional, Watanabe, Masahiro, additional, and Tadakuma, Kenjiro, additional

Published
2019
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20. Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018.

Author

Takemori, Tatsuya, Miyake, Masato, Hirai, Tomoaki, Wang, Xixun, Fukao, Yuto, Adachi, Mau, Yamaguchi, Kaiyo, Tanishige, Suomi, Nomura, Yusuke, Matsuno, Fumitoshi, Fujimoto, Toshiaki, Nomura, Akito, Tetsui, Hikaru, Watanabe, Masahiro, and Tadakuma, Kenjiro

Subjects
*ROBOTS, *HUMAN-machine relationship, *RESCUES, *PERFORMANCE evaluation, *ROBOTICS
Abstract

Robots are needed in rescue activities and the inspection of infrastructure. We developed the rescue robot FUHGA2 so that it has various functions. FUHGA2 has high mobility, with main crawlers covering the body and four sub-crawlers, high dexterity using a long six-axis arm, and high searching ability using various sensors. Furthermore, a novel parallel gripper unit with wire-jamming mechanism is mounted at the tip of the arm, which can change its hardness and fit its shape to an object. Additionally, high Maneuvering is achieved by displaying sensor information to the operator clearly and intuitive operation command design. FUHGA2 won the World Robot Summit 2018 Standard Disaster Robotics Challenge, which is a competition for rescue robots. We achieved high scores in all categories of tasks. In this paper, we describe the development of FUHGA2 and the performance evaluation results from the World Robot Summit 2018. [ABSTRACT FROM AUTHOR]

Published
2020
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21. Development of Tough Snake Robot in ImPACT Tough Robotics Challenge

Author

KAMEGAWA, Tetsushi, primary, QI, Wei, additional, SUHARA, Hiroki, additional, MATSUDA, Eriko, additional, AKIYAMA, Taichi, additional, SAKAI, Satoshi, additional, UNE, Kazushi, additional, TAKEMORI, Tatsuya, additional, FUJIWARA, Tomofumi, additional, MATSUNO, Fumitoshi, additional, SUZUKI, Yosuke, additional, BANDO, Yoshiaki, additional, ITOYAMA, Katsutoshi, additional, and OKUNO, Hiroshi G., additional

Published
2018
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22. Development and Future Extension of Snake-like Robots on ImPACT TRC Project

Author

MATSUNO, Fumitosgi, primary, KAMEGAWA, Tetsushi, additional, TAKEMORI, Tatsuya, additional, TANAKA, Motoyasu, additional, TADAKUMA, Kenjiro, additional, FUJITA, Masahiro, additional, SUZUKI, Yosuke, additional, BANDO, Yoshiaki, additional, ITOYAMA, Katsutoshi, additional, OKUNO, Hiroshi, additional, FUJIWARA, Tomofumi, additional, DATE, Hisashi, additional, and Ariizumi, Ryo, additional

Published
2018
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23. Development of a snake robot moving in a pipe with helical rolling motion

Author

KAMEGAWA, Tetsushi, primary, Qi, Wei, additional, SUHARA, Hiroki, additional, MATSUDA, Eriko, additional, AKIYAMA, Taichi, additional, SAKAI, Satoshi, additional, TAKEMORI, Tatsuya, additional, FUJIWARA, Tomofumi, additional, MATSUNO, Fumitoshi, additional, SUZUKI, Yosuke, additional, BANDO, Yoshiaki, additional, and G. Okuno, Hiroshi, additional

Published
2017
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26. Mimebot

Author

Tsuchida, Shuhei, primary, Takemori, Tatsuya, additional, Terada, Tsutomu, additional, and Tsukamoto, Masahiko, additional

Published
2016
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