Surmounting Obstacles

Snake-like robot Genbu is characterized by multi bodies connected by passive joints and multi active wheels of large diameter. One of typical application of Genbu is Fire Fighting Robot as water discharger pulling fire hose (Fig.1). The robot is moved by hydraulic motor in the wheels using pump of fire engine. The hydraulic motor is also developing in our lab. Another application is the autonomous traveling rover for a probe of unapproachable disaster site or a planetary explorer.

Genbu1 is developed in 1995 (Fig.2). Bodies of Genbu2 are connected by elastic joints so that the robot can change the posture adaptively for terrain (Fig.3). Wheels are stainless spring wheel with grousers for high durability and high mobility for the rough terrain. This robot can easily overcome a 300 mm vertical wall (wheel diameter is 250mm).

Genbu3 is loaded the motor driver and battery in each wheel, and micro controller in each body (Fig.4). Pitch, roll and yaw angles are measured by using the new rigid body joint arm mechanism. Stable torque measuring system is accomplished with float differential mechanism in each wheel. In this robot system, adaptive control for the terrain is possible by using posture of the multi-wheeled robots. For practical use, this robot is waterproofed by using X-ring in each joint.

Fig.1. Application for Fire Fighting Robot driven by hydraulic power of the fire engine
Fig.2a GENBU I on debris	Fig.2b GENBU I on debris
Fig.3a GENBU II	Fig.3b GENBU II with elastic joints
Fig.4a GENBU III	Fig.4b Wheel inside mechanism