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

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 Detection and identification of living bodiesof living bodies

Clearing of debris in Clearing of debris in accessing the victimaccessing the victim

Physical,emotional and Physical,emotional and medical stabilization by medical stabilization by him/her for first aidhim/her for first aid

Transportation of victimTransportation of victim

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 DisasterBasic 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

Virtual experience and traningVirtual experience and traning

Conditioning of optimal action in disasterConditioning of optimal action in disaster

Action simulator of parties of rescue,fire,fighters Action simulator of parties of rescue,fire,fighters and back supportsand back supports

Equipped with multitude of sensorsEquipped with multitude of sensors

Snake robotsSnake robotsSensor based Sensor based online path planningonline path planning

Multisensor based on line Multisensor based on line path planningpath planning

Six identical segments –Six identical segments –two way,two DOF,two way,two DOF,

total 12controllable DOFtotal 12controllable DOF

Ultrasound sensor,12 Ultrasound sensor,12 infrared sensors andinfrared sensors and

thermal camera thermal camera

Different types of movementDifferent types of movement

It is achived by adapting the natural snake It is achived by adapting the natural snake motions to the multisegment robot motions to the multisegment robot configuraion:configuraion:

1)Move forward with rectilinear 1)Move forward with rectilinear or lateral motion.or lateral motion.

2)Move right/left with flapping 2)Move right/left with flapping motion.motion.

3)Change of direction.3)Change of direction.

Specification of prototypeSpecification of prototype

Actutor Actutor Stepping motor Stepping motor Material Material Alluminium alloy Alluminium alloy Dimension Dimension 82*82*67 cubic mm 82*82*67 cubic mm Weight Weight 300g 300g Max: Torque Max: Torque 20kgf/cm 20kgf/cm Max: angle ve- Max: angle ve- 50degrees per sec: 50degrees per sec: locity 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 Aiming at the enhancing the quality of rescue and life after rescue, the field of rescue and life after rescue, the field of rescue robotics is seeking dexterous devices rescue robotics is seeking dexterous devices that are equipped with learning ability , that are equipped with learning ability , adaptable to various types of situations. adaptable to various types of situations. Research and development are going on for Research and development are going on for further modification of rescue robots. further modification of rescue robots. Considering various natural disasters and Considering various natural disasters and man-made catastrophes need for rescue man-made catastrophes need for rescue robots is focused.robots is focused.

QUESTIONSQUESTIONS

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