1. SNAKE ROBOTS TO THE RESCUE!

2. 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

3. 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

4. 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

5. 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

6. Requirments of Rescue Robots Basic Real Disaster Real world interface Action command Disaster infromation collector transm: 1.Seisometer 2.Tsunamimeters 3.Vedio camers 1.Traffic signals 2.Eletricity controls 3.Rescue robots

7.  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

8. Snake robots  Sensor based online path planning  Multisensor based on line path planning  Six identical segments – two way,two DOF, total 12controllable DOF total 12controllable DOF  Ultrasound sensor,12 infrared sensors and thermal camera thermal camera

9. Different types of movement It is achived by adapting the natural snake motions to the multisegment robot configuraion: It is achived by adapting the natural snake motions to the multisegment robot configuraion: 1)Move forward with rectilinear or lateral motion. 1)Move forward with rectilinear or lateral motion. 2)Move right/left with flapping motion. 2)Move right/left with flapping motion. 3)Change of direction. 3)Change of direction.

10. Specification of prototype Actutor  Stepping motor Actutor  Stepping motor Material  Alluminium alloy Material  Alluminium alloy Dimension  82*82*67 cubic mm Dimension  82*82*67 cubic mm Weight  300g Weight  300g Max: Torque  20kgf/cm Max: Torque  20kgf/cm Max: angle ve-  50degrees per sec: Max: angle ve-  50degrees per sec: locity locity

11. 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

12.   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

14. 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

15.   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.

16.   The whole structure is encoded as :

18. 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. 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.

19. QUESTIONS

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