Development and field test of the articulated mobile robot T2 Snake-4 for plant disaster prevention

Motoyasu Tanaka, Kazuyuki Kon, Mizuki Nakajima, Nobutaka Matsumoto, Shinnosuke Fukumura, Kosuke Fukui, Hidemasa Sawabe, Masahiro Fujita, Kenjiro Tadakuma

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this work, we develop an articulated mobile robot that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. The robot can adopt a tall position using a folding arm and gather information using sensors mounted on the arm. In addition, this paper presents a stair climbing method using a single backward wave. This method enables the robot to climb stairs that have a short tread. The developed robot system is tested in a field test at the World Robot Summit 2018, and the lessons learned in the field test are discussed.

Original languageEnglish
Pages (from-to)70-88
Number of pages19
JournalAdvanced Robotics
Issue number2
Publication statusPublished - 2020 Jan 17


  • Articulated mobile robot
  • plant inspection
  • snake robot
  • stairs

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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