Multiple Sensor Fusion and Motion Control of Snake Robot Based on Soft-Computing

There are many circumstance limits to human like extreme radioactivity, temperature, chemical toxicity, pressure and so on. But, we need to detect and research region for making our sure safe and state. During long time, human have made a robot that have multi-joint biped robot and mobile robot using wheels. And now, that is developing but it still has some problem that is occurred by condition of the ground. Wheel structure is more adaptive to make high speed drive on flat ground and more efficiency to control the drive than other robot. But if it is on the non-flat ground or sandy road, wheel-based drive is not efficient way(Masashi S. et al, 2002). Also biped robot has wonderful adaptation to ground better than wheel-based mobile robot. Considering the condition of the rough ground, multi-joint biped robot that have no running gear like the snake robot have more adaptive than wheelbased robot(K. Dowling, 1999; Honda Motor Co., 1996). If human make a moving robot operate like snake, this snake robot can solve the big problem that is the saving survivor, examination of harmfulness material in the dangerous situation like disaster(a earthquake, explosion and fire)(K. Dowling, 1999). Also it has a good adaptability and moving ability to use widely in difficult situation like researching of dangerous surrounding and medical part(K. Dowling, 1999; S. Hirose, 1993; S. Hirose, 1990; M. Nilsson, 1998). It is just like toy if robot merely operates a joint for driving. Human can recognize their surround using by the five senses. For it can be intelligence robot, robot must have independent sensors. It is possible to judge by comparing the information get through the sensor with the own information. Surely robot have to do that judge(Wako T., 2001; Ren C. Luo, 2002). In this paper, by using the sensors that is worn the snake robot, we can recognize our surround and can reason a suitable act by the sensor information, and we can materialize the snake robot by real movement for real-time. In this research, we realize the intelligence snake robot that is copied from biological snake and that robot can judge intelligently about their circumstance. Surely, this robot can execute their mission by intelligence judging.