SNAKE ROBOTS TO SNAKE ROBOTS TO THE RESCUE! THE RESCUE! Presented By garima Roll no-10012063
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
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