Stuck evasion control for active-wheel passive-joint snake-like mobile robot 'genbu'

The snake-like robots of the 'Genbu' series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several problems, such as stuck condition, due to the passive joints. These are good proper-ties for fire-fighting robots or planetary rovers. Genbu 3, developed in this study, could climb a 280mm vertical wall whereas the diameter of the wheel is 250mm. This paper de-scribes automatic stuck detection algorithm and stuck avoidance methods. Para-skid steering is also described. Results of experiments with Genbu 3 are presented and discussed in order to verify these methods.