SNAKE ROBOTS TO THE RESCUE Introduction Intelligent robots

SNAKE ROBOTS TO THE RESCUE!

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

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 infromation collector transm: 1. Seisometer 2. Tsunamimeters 3. Vedio camers Real world interface Action command 1. Traffic signals 2. Eletricity controls 3. Rescue robots

§ 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

Snake robots Sensor based online path planning § Multisensor based on line path planning § Six identical segments – two way, two DOF, total 12 controllable 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 300 g Max: Torque 20 kgf/cm Max: angle ve- 50 degrees 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.

QUESTIONS

THANK YOU