SNAKE ROBOTS SNAKE ROBOTS TO THE RESCUE!TO THE RESCUE!

Presented By

garima

Roll no-10012063

IntroductionIntroduction

• 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 RobotsRescue 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 RobotsFunctions 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 ProblemsThe 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 RobotsRequirments of Rescue Robots

Basic Real Disaster

Real worldinterface

Action command

Disaster infromation collector transm:

1.Seisometer 2.Tsunamimeters

3.Vedio camers

1.Traffic signals 2.Eletricity controls

3.Rescue robots

Snake robotsSnake robotsSensor based Sensor based online path planningonline 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 movementDifferent 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 prototypeSpecification 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 MechanismDevelopment 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 A GA Based Planning of Shape TransitionTransition

• 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 :

ConclusionConclusion

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.

ReferencesReferences

• 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

QUESTIONSQUESTIONS

THANK YOU