Development of Tough Snake Robot Systems

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 128)


In the Tough Snake Robot Systems Group, a snake robot without wheels (nonwheeled-type snake robot) and a snake robot with active wheels (wheeled snake robot) have been developed. The main target applications of these snake robots are exploration of complex plant structures, such as the interior and exterior of pipes, debris, and even ladders, and the inspection of narrow spaces within buildings, e.g., roof spaces and underfloor spaces, which would enable plant patrol and inspection. At the head of each robot, a compact and lightweight gripper is mounted to allow the robot to grasp various types of objects, including fragile objects. To measure the contact force of each robot, a whole-body tactile sensor has been developed. A sound-based online localization method for use with the in-pipe snake robot has also been developed. To enable teleoperation of platform robots with the sensing system and the gripper, a human interface has also been developed. The results of some experimental demonstrations of the developed tough snake robot systems are presented.



This work was supported by Impulsing Paradigm Change through Disruptive Technologies (ImPACT) Tough Robotics Challenge program of Japan Science and Technology (JST) Agency.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Kyoto University, KyodaikatsuraNishikyo-ku, KyotoJapan
  2. 2.Okayama UniversityKita-ku, Okayama-shi, OkayamaJapan
  3. 3.The University of Electro-CommunicationsChofu, TokyoJapan
  4. 4.Tohoku UniversityMiyagiJapan
  5. 5.Kanazawa University, Kakuma-machiKanazawa, IshikawaJapan
  6. 6.Tokyo Institute of TechnologyMeguro-ku, TokyoJapan
  7. 7.Waseda UniversityShinjuku-ku, TokyoJapan
  8. 8.National Institute of Advanced Industrial Science and Technology (AIST)Koto-ku, TokyoJapan
  9. 9.Tohoku UniversityAoba-ku, SendaiJapan

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