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Confined spaces exist. A confined space exists because of a lack of ability to take apart or dismantle components. Confined spaces exist in nuclear reactors where radiation is dangerous for human, aircraft inside the wings and other small spaces that need to remain intact, the human body which likewise cannot be dismantled easily, industrial processing plants that have containers, underwater environments, ship-building, and space. Buildings, roads, pipelines and other man-made spaces all have confined spaces. The world is full of awkward confined spaces. Snake-arm robots are self-contained portable devices and extensions to existing systems. These products build on software and hardware technology.

Snake robots used for small space access, inside airplane wing access, first responder tasks, and surgery: They are used for going where nothing else can go. Snake robots provide systems that significantly improve traditional open surgery by consolidating the number of minimally invasive access ports to one and eliminating open surgery. The automated process revolution has come to robotics, used in surgery, industry, ships, airplanes, first responder help, and communications. Automated process is being implemented via robots. Robots are automating systems, providing significant improvement in the accuracy of surgery and penetration of spaces that were previously impenetrable.

According to Susan Eustis, lead author of the study, “A confined space needs long smooth snake shapes to achieve access. Confined spaces exist by design (aircraft engine), by failure (collapsed building) or naturally (human body). Existing open surgery can be replaced in large part by robotic and minimally invasive surgery (MIS). Minimally invasive surgery MIS, drug therapies, radiation treatment, and emerging interventional surgical approaches complement robotic surgery techniques as a replacement for or complement to open surgery. The snake robots reduces the number of ports needed to gain access and repair the heart.” According to Susan Eustis as she continued: “The companies that get an early foothold in the market have significant strategic advantage. The robotic snake leverages a new technique for robotic movement that benefits users by providing efficient access to difficult spaces. This factor is driving demand for snake robot systems.

Since robotics provide a precise, repeatable and controlled ability to perform procedures in tight spaces, they are increasingly in demand.” During a robot assisted surgical procedure, the patient-side cart is positioned next to the operating table with the electromechanical arms arranged to provide access to the initial ports selected by the surgeon. Metal tubes attached to the arms are inserted through the ports, and the cutting and visualization instruments are introduced through the tubes into the patient’s body. The surgeon performs the procedure while sitting at a console, manipulating the instrument controls and viewing the operation through a vision system.

When a surgeon needs to change an instrument the instrument is withdrawn from the surgical field using the controls at the console. This is done many times during an operation. The aging US population has supported demand for robotic surgical instruments, since the occurrence of health issues that require medical devices is higher in the elderly population. Buoyed by strong demand and sales, industry profit margins have increased. Snake robot device markets at $33.6 million in 2012 are anticipated to reach $2.3 billion by 2019 as next devices, systems, and instruments are introduced to manage access to difficult spaces through small ports when large openings are unavailable or inconvenient.

Table Of Contents

Snake Robots: Market Shares, Strategies, and Forecasts, Worldwide, 2015-2021
Snake Robots Market Shares and Market Forecasts ES-1
Snake Robot Market Driving Forces ES-1
Snake Robots Market Shares ES-10
Snake Robot Market Forecasts ES-12
Snake Robots Market Description and Market Dynamics
1. Snake Robots Market Description and
Market Dynamics 1-1
1.1 Snake Robots Are Different 1-1
1.2 Modsnake Robots 1-2
1.2.1 Modsnake Robots Support Human Workers 1-3
1.3 Snakelike Robots Slither over Rough Landscape 1-4
1.4 Snake Robots Locomote 1-4
1.5 Serpentine Robot Applications 1-5
1.5.1 Seizing the Robotics Opportunity 1-6
1.5.2 Modular Self-Reconfiguring Robotic Systems 1-7
1.6 Public Aware That Robotics Have “Arrived” 1-7
1.7 Next Generation Snake Robotics 1-9
2. Snake Robots Market Shares and Market Forecasts 2-1
2.1 Snake Robot Market Driving Forces 2-1
2.2 Snake Robots Market Shares 2-10
2.3 Snake Robot Variety of Applications 2-13
2.3.1 HiBot / Hirose Fukushima Lab ACM 2-13
2.3.2 OC Robotics Snake-Arm for Aircraft Assembly 2-15
2.3.3 Minimally Invasive Equipment Surgical Robots 2-16
2.3.4 Medrobotics Cardioarm Is A Jointed Robot 2-17
2.3.5 SINTEF Robot Snakes Climb Pipes 2-18
2.3.6 University of Southampton. 2-18
2.3.7 CCTV Inspection 2-19
2.4 Snake Robot Market Forecasts 2-19
2.4.1 Snake Robots Market Industry Segments 2-21
2.4.2 Cardiac Surgery Snake Robots Market Forecasts 2-26
2.4.3 Medrobotics Initial Goal Is To Help Avoid Open-Heart Surgery 2-26
2.4.4 Minimally Invasive Surgery Positioning: Medrobotics
Requires One Incision At The
Bottom Of The Ribs Whereas The Da Vinci Endoscopic Surgical
System Could Require Up To Six
Incision Points
2-27
2.4.5 Medrobotics Positioning 2-28
2.4.6 Cardiac Surgery Snake Robots Market Forecasts 2-28
2.4.7 Reaching The Un Reachable Snake Robot Market Forecasts 2-30
2.5 Snake Robot Prices 2-31
2.5.1 Inaccessible Spaces - OC Robotics 2-31
2.5.2 Cardiac Surgery - Medrobotics 2-31
2.6 Snake Robots Regional Market Analysis 2-33
3. Snake Robot Product Description 3-1
3.1 OC Robotics 3-1
3.1.1 OC Robotics The Explorer Range 3-2
3.1.2 OC Robotics Snake-Arm Control 3-7
3.1.3 OC Robotics Snake-Arm Simulator 3-7
3.1.4 OC Robotics Snake-Arm for Aircraft Assembly 3-8
3.1.5 OC Robotics Extender Snake Range Of -Motion
Robots Reach The Unreachable 3-9
3.1.6 OC Robotics Snake-Arm - 3-12
3.1.7 OC Robotics 3-15
3.1.8 OC Energy and Environment Robotics 3-16
3.1 Medrobotics Techonology 3-17
3.1.1 Medrobotics Medical Devices for Minimally Invasive Surgery 3-18
3.1.2 Medrobotics Flexible Robot Platform 3-18
3.1.3 Medrobotics Snakelike Robots for Heart Surgery 3-19
3.1.4 Medrobotics Cardiac Surgery Snake Robot 3-20
3.1.5 Minimally Invasive Surgery Positioning: 3-24
3.2 University of Michigan All-Terrain Robotics: 3-25
3.2.1 University of Michigan Mobile Robotics Lab Omnitread 3-29
3.2.2 OmniTread Robot Snakes 3-32
3.3 Applied Robotics Technologies, LLC 3-33
3.3.1 The FLEXnav Proprioceptive Position Estimation (PPE) System 3-34
3.3.2 Applied Robotics Technologies Pricing 3-35
3.3.3 Heuristic Drift Reduction for Gyros in Vehicle
Tracking Applications 3-36
3.3.4 Applied Robotics Technologies Key Benefits 3-39
3.3.5 Applied Robotics Technologies Pricing 3-39
3.4 NASA Robotic Snakes 3-39
3.5 Canadian Robotics Ltd. 3-40
3.6 Japan Guru World-Class Snake Robotics 3-40
3.7 NTNU and SINTEF in Norway World-Class Snake Robotics 41
3.7.1 Sintef Anna Konda 3-41
3.7.2 Anna Konda Firefighting Snakebot 3-47
3.7.3 Sintef Aiko 3-50
3.7.4 Sintef Pneumosnake 3-51
3.7.5 Sintef PiKo 3-52
3.7.6 Sintef Climbing Robot 3-55
3.7.7 Sintef Robot Learning 3-57
3.7.8 Department of Engineering Cybernetics at NTNU
Pneumosnake - Snake Robot With Pneumatic Bellows 3-58
3.8 Hibot Pipetron 3-60
3.8.1 HiBot Expliner 3-61
3.8.2 HiBot ACM-R4H 3-62
3.8.3 HiBot ACM-R5 3-63
3.8.4 Hibot ACM-R5 Amphibious Robosnake 3-64
3.8.5 HiBot Japanese Snake Robot 3-66
3.8.6 Maintaining High Voltage Transmission Lines Using Robotics 3-68
3.8.7 Hydro-Quebec Research Institute (IREQ)LineScout
Tele-operated obstacle crossing system 3-68
3.8.8 HiBot Expliner 3-68
3.8.9 America's Electric Power Research Institute (EPRI)
Autonomous Version 3-68
Snake Robots Technology
4. Snake Robot Technology 4-1
4.1 Actuated Joints In A Tight Volume 4-1
4.2 OC Robotics 4-2
4.2.1 OC Robotics Develops Snake-Arm Robots For Confined Spaces 4-3
4.2.2 OC Robotics Snake Arm Actuator Pack 4-5
4.2.3 OC Robotics Snake Arm 4-6
4.2.4 OC Robotics Tool 4-6
4.2.5 OC Robotics Confined Space Piece Manipulation 4-7
4.2.6 OC Robotics Confined Space Reach 4-8
4.3 OC Robotics Snake-Arm Robot Basics 4-10
4.3.1 OC Robotics Snake Robot Curvature - 4-15
4.3.2 OC Robotics Protective Skins 4-16
4.3.3 OC Robotics Manages Hazardous Environments - 4-17
4.3.4 OC Robotics Software - SoftSnake 4-18
4.3.5 OC Robotics PipeSnake 4-18
4.3.6 OC Robotics Snake-Arm Robots Aircraft Assembly 4-22
4.4 CISST ERC Snake Robot 4-27
4.5 Bio-Robotics Lab 4-28
4.6 Carnegie Mellon Robotics Institute 4-31
4.7 Sintef 4-32
4.7.1 Sintef Aiko Snake Robot With Electric Motors 4-34
4.8 Hirose Fukushima Lab ACM Land and Amphibious Robot Snake 4-36
4.8.1 Hirose Fukushima Lab ACM-R5 Control System 4-37
4.8.2 Hirose Fukushima Lab ACM Slim Slime Robot 4-38
4.8.3 Hirose Fukushima Lab pneumatically-driven Slime Robot 4-40
4.8.4 Hirose-Fukushima Lab at Tokyo Institute of
Technology Amphibious Snake Robot - ACM-R5 4-49
4.9 DrGavin S7 Snake Robot Rectilinear Locomotion 4-50
4.9.1 Nottingham Trent University 4-54
4.10 Israeli Army Deploys Robot Snakes 4-55
4.10.1 Israeli Military Develops Robot Snake Bomb
Hirose Fukushima Lab 4-57
4.11 Merlin Robotics, Nottingham Trent University Robot Snake Dance 4-60
4.12 Snake Bot at Carnegie Mellon 4-61
4.12.1 Carnegie Mellon Conforming Loop 4-64
4.13 CardioArm Biomedicine Snakelike Robots for Heart Surgery 4-68
4-68
4.13.1 Snake Robot Helps Wounded Soldiers 4-70
4.14 Hughes Aircraft R7 Early Robotic Snake 4-72
4.15 British 'Serpentine Spy' 4-73
4.16 IDF Spy Robot Snake 4-74
4.17 SINTEF Robot Snakes Climb Pipes 4-75
4.17.1 SINTEF Anna Konda 4-76
4.18 Climbing Snakes Biorobotics Lab, Carnegie Mellon University 4-79
4.19 NASA Snake-bot VS InnoSTAR 4-81
4.20 Applied Robotics Technologies, LLC 4-82
5. Snake Robots Company Profiles 5-1
5.1 Applied Robotics Technologies, LLC 5-1
5.2 HiBot 5-1
5.3 Medrobotics 5-2
5.3.1 Medrobotics $10 Million Financing From Hercules 5-2
5.1.1 Medrobotics Several Generations Of Snake Robot Platforms 5-3
5.1.2 Medrobotics Advances Clinical Development of
Snake Robot for Surgery 5-4
5.1.3 Medrobotics Positioning 5-4
5.1.4 Medrobotics Cardiac Surgery Gold Standard 5-5
5.1.5 Medrobotics Snake Robot Technologies Used In
Range Of Surgical And Interventional Applications 5-56
5.1.6 Medrobotics Technology and Research Center 5-8
5.4 OC Robotics 5-9
5.4.1 OC Robotics Technology and Innovation 5-9
5.4.2 OC Robotics Robots Extend Reach Of Manual Process 5-11
5.4.3 OC Robotics A CANDU Snake-Arm Robot 5-13
5.4.4 OC Robotics Snake-Arm Robots 5-14
5.5 University of Michigan Mobile Robotics Lab Omnitread 5-17
5.6 Tokyo Institute of Technology Research Laboratories 5-20
5.6.1 Tokyo Institute of Technology / Hirose Fukushima Lab ACM 5-22
5.6.2 Hirose Fukushima Lab ACM Hibot 5-22
5.7 Sintef 5-23
5.8 Selected List of University and Research Snake Robots 5-25
List of Tables and Figures
Snake Robots Executive Summary 38
Snake Robot Market Driving Forces 38
Snake Robots Market Shares 49
Snake Robot Market Forecasts 51
1. Snake Robots Market Description and Market Dynamics
53
1.1 Snake Robots Automate Process 53
1.2 Modsnake Robots 54
1.2.1 Modsnake Robots Support Human Workers 55
1.3 Snakelike Robots Slither over Rough Landscape 56
1.4 Snake Robots Locomote 56
1.5 Serpentine Robot Applications 57
1.5.1 Seizing the Robotics Opportunity 58
1.5.2 Modular Self-Reconfiguring Robotic Systems 59
1.6 Mobile Robotics 59
1.7 Next Generation Snake Robotics 61
2. Snake Robots Market Shares and Market Forecasts 62
2.1 Snake Robot Market Driving Forces 62
2.2 Snake Robots Market Shares 73
2.2.1 HiBot / Hirose Fukushima Lab ACM 76
2.2.2 OC Robotics Snake-Arm for Aircraft Assembly 78
2.2.3 Sarcos Snake Robot Magnetic Track 79
2.2.4 Sarcos Robot Inspection Of Ship Ballast Tanks 80
2.2.5 Medrobotics Minimally Invasive Equipment Surgical Robots 80
2.2.6 Medrobotics Positioning 81
2.2.7 Medrobotics highly articulated robotic probes 81
2.2.8 SINTEF Robot Snakes Climb Pipes 84
2.3 Snake Robot Market Forecasts 84
2.3.1 Industrial, Medical, and Military Snake Robot Market Segment
Forecasts 90
2.3.2 Nuclear, Oil and Gas Snake Robots Markets 95
2.3.3 Construction and Mining Snake Robots Market 99
2.3.1 Surgery Snake Robots Market Forecasts 102
2.3.2 Medical Surgical Snake Robot Market Forecasts 104
2.3.3 Military Snake Robot Market Forecasts 105
2.3.4 Aerospace Snake Robot Market Forecasts 107
2.3.5 Confined Space and High Wire Snake Robot Market Forecasts 113
2.4 Snake Robot Prices 116
2.4.1 Inaccessible Spaces - OC Robotics 116
2.4.2 Medrobotics 116
2.5 Snake Robots Regional Market Analysis 118
3. Snake Robot Product Description 121
3.1 OC Robotics 121
3.1.1 OC Robotics Addresses Confined Space Problem 121
3.1.2 OC Robotics LaserSnake for Decommissioning Complex Structures In
Hazardous, Confined Nuclear Environments 124
3.1.3 OC Robotics Snake-Arm Robots For Aircraft Assembly 126
3.1.4 OCRobotics Snake Robot Aerospace Applications 128
3.1.5 OCRobotics Snake-Arm Tools 129
3.1.6 OCRobotics Aerospace Applications 131
3.1.7 OC Robotics Snake-Arms For Security 134
3.1.8 OC Robotics Snake-Arms for Construction 135
3.1.9 OC Robotics Snake-Arms for Industrial Application 136
3.1.10 OC Robotics The Explorer Range 137
3.1.11 OC Robotics Snake-Arm Control 142
3.1.12 OC Robotics Snake-Arm Simulator 143
3.1.13 OC Robotics Snake-Arm for Aircraft Assembly 143
3.1.14 OC Robotics Extender Snake Range Of -Motion Robots Reach The
Unreachable 144
3.1.15 OC Robotics Snake-Arm - 148
3.1.16 OC Robotics 149
3.1.17 OC Energy and Environment Robotics 150
3.2 Sarcos Guardian S Snake Robot 152
3.2.1 Sarcos Snake Robot Magnetic Track 157
3.2.2 Sarcos Guardian S Snake Robot Climbing Ferromagnetic Surface Pole
158
3.2.3 Sarcos Guardian S Snake Robot Camera Applications 161
3.2.4 Sarcos Guardian S Snake Robot Ship Systems Inspection Applications
163
3.2.5 Sarcos Robot Inspection Of Ship Ballast Tanks 163
3.2.6 Sarcos Robotic Arm For Inspecting On Board Water Tanks 164
3.2.7 Sarcos Guardian S Snake Robot Traverse Capabilities 168
3.3 Medrobotics Technology 169
3.3.1 Medrobotics Flex® Retractor 171
3.3.2 Medrobotics Flexible Robot Platform 172
3.3.3 Medrobotics Snakelike Robots for Oropharynx, Hypopharynx and
Larynx Surgery173
3.4 University of Michigan All-Terrain Robotics: 176
3.4.1 University of Michigan Mobile Robotics Lab Omnitread 180
3.4.2 OmniTread Robot Snakes 182
3.5 Applied Robotics Technologies, LLC 184
3.5.1 The FLEXnav Proprioceptive Position Estimation (PPE) System 184
3.5.2 Applied Robotics Technologies Pricing 185
3.5.3 Heuristic Drift Reduction for Gyros in Vehicle Tracking Applications 186
3.5.4 Applied Robotics Technologies Key Benefits 189
3.5.5 Applied Robotics Technologies Pricing 189
3.6 NASA Robotic Snakes 189
3.7 Canadian Robotics Ltd. 190
3.8 Japan Guru World-Class Snake Robotics 190
3.9 Hibot Thesbot 191
3.9.1 Hibot Pipetron 192
3.9.2 HiBot Expliner 192
3.9.3 HiBot ACM-R4H 194
3.9.4 HiBot ACM-R5 194
3.9.5 Hibot ACM-R5 Amphibious Robosnake 196
3.9.6 HiBot Japanese Snake Robot 197
3.9.7 Maintaining High Voltage Transmission Lines Using Robotics 199
3.9.8 Hydro-Quebec Research Institute (IREQ)LineScout tele-operated
obstacle crossing system 199
3.9.9 HiBot Expliner 200
3.9.10 America's Electric Power Research Institute (EPRI) Autonomous
Version 200
3.10 Tesla Unveils Snakelike Robot Charger for Electric Cars 201
3.11 Unifire Robotic Nozzles 202
3.11.1 Unifire Advanced, Fully Automatic Robotic Nozzle System 208
3.12 University of Southampton. 210
3.13 CCTV Inspection 210
4. Snake Robot Technology 212
4.1 Actuated Joints In A Tight Volume 212
4.2 OC Robotics 213
4.2.1 OC Robotics Develops Snake-Arm Robots For Confined Spaces 214
4.2.2 OC Robotics Snake Arm Actuator Pack 216
4.2.3 OC Robotics Snake Arm 217
4.2.4 OC Robotics Tool 217
4.2.5 OC Robotics Confined Space Piece Manipulation 218
4.2.6 OC Robotics Confined Space Reach 219
4.3 OC Robotics Snake-Arm Robot Basics 221
4.3.1 OC Robotics Snake Robot Curvature - 225
4.3.2 OC Robotics Protective Skins 227
4.3.3 OC Robotics Manages Hazardous Environments - 228
4.3.4 OC Robotics Software - SoftSnake 229
4.3.5 OC Robotics PipeSnake 230
4.3.6 OC Robotics Snake-Arm Robots Aircraft Assembly 234
4.4 CISST ERC Snake Robot 239
4.5 Bio-Robotics Lab 240
4.6 Carnegie Mellon Robotics Institute 243
4.7 Sintef 244
4.7.1 Sintef Aiko Snake Robot With Electric Motors 246
4.8 NTNU and SINTEF in Norway World-Class Snake Robotics 248
4.8.1 Sintef Anna Konda 248
4.8.2 Anna Konda Firefighting Snakebot 254
4.8.3 Sintef Aiko 257
4.8.4 Sintef Pneumosnake 258
4.8.5 Sintef PiKo 259
4.8.6 Sintef Climbing Robot 262
4.8.7 Sintef Robot Learning 264
4.8.8 Department of Engineering Cybernetics at NTNU Pneumosnake -
Snake Robot With Pneumatic Bellows 265
4.9 Hirose Fukushima Lab ACM Land and Amphibious Robot Snake 268
4.9.1 Hirose Fukushima Lab ACM-R5 Control System 269
4.9.2 Hirose Fukushima Lab ACM Slim Slime Robot 270
4.9.3 Hirose Fukushima Lab Pneumatically-Driven Slime Robot 272
4.9.4 Hirose-Fukushima Lab at Tokyo Institute of Technology Amphibious
Snake Robot - ACM-R5 281
4.10 DrGavin S7 Snake Robot Rectilinear Locomotion 282
4.10.1 Nottingham Trent University 286
4.11 Israeli Army Deploys Robot Snakes 287
4.11.1 Israeli Military Develops Robot Snake Bomb Hirose Fukushima Lab 289
4.12 Merlin Robotics, Nottingham Trent University Robot Snake Dance 292
4.13 Snake Bot at Carnegie Mellon 293
4.13.1 Carnegie Mellon Conforming Loop 295
4.14 CardioArm Biomedicine Snakelike Robots for Heart Surgery 298
4.14.1 Snake Robot Helps Wounded Soldiers 301
4.15 Hughes Aircraft R7 Early Robotic Snake 303
4.16 British 'Serpentine Spy' 304
4.17 IDF Spy Robot Snake 305
4.18 ASA Snake-bot VS InnoSTAR 306
4.19 Applied Robotics Technologies, LLC 307
5. Snake Robots Company Profiles 310
5.1 Applied Robotics Technologies, LLC 310
5.2 Fanuc 310
5.2.1 FANUC Corporation 320
5.2.2 Fanuc Revenue 322
5.2.3 Fanuc Joint Venture With General Electric in the FA field 324
5.3 HiBot 325
5.3.1 HiBot Inspects High-Voltage Transmission Lines 325
5.3.2 HiBot Snake Robot 325
5.4 Kawasaki Robotics 326
5.5 Kuka 328
5.5.1 KUKA Dominant Customer Segment, Automotive Industry 329
5.5.2 Kuka Revenue 331
5.5.3 Kuka Competition 334
5.5.4 Kuka Innovative Technology 336
5.5.5 Kuka Well Positioned With A Broad Product Portfolio In Markets With
Attractive Growth Prospects 337
5.5.6 Kuka Strategy 337
5.5.7 Kuka Corporate Policy 339
5.5.8 Kuka Customers 345
5.5.9 KUKA Acquires 51% of Reis Robotics 347
5.5.10 Kuka Positioning in Robotics and Systems 348
5.6 Medrobotics 351
5.6.1 Medrobotics Closes On $10 Million Financing 353
5.6.2 Medrobotics Several Generations Of Snake Robot Platforms 354
5.6.3 Medrobotics Advances Clinical Development of Snake Robot for
Surgery 354
5.6.4 Medrobotics Positioning 355
5.6.5 Medrobotics Cardiac Surgery Gold Standard 355
5.6.6 Medrobotics Snake Robot Technologies For Use In A Wide Range Of
Surgical And Interventional Applications 357
5.6.7 Medrobotics Technology and Research Center 359
5.7 Mitsubishi 360
5.7.1 Mitsubishi Electric Corp. 361
5.8 OC Robotics 363
5.8.1 OC Robotics Technology and Innovation 364
5.8.2 OC Robotics Robots Extend Reach Of Manual Process 366
5.8.3 OC Robotics A CANDU Snake-Arm Robot 367
5.8.4 OC Robotics Snake-Arm Robots 368
5.9 Sarcos Corp 370
5.9.1 Sarcos Dexterous, Tele-Operated Robotic Systems 371
5.9.2 Sarcos Snake Robot Unmanned Ground Vehicle 372
5.9.3 Sarcos Robots Inspection of Ballast Tanks on Ships 374
5.9.4 Sarcos Guardian S Robotic Systems Replace Current Dangerous And
Expensive Inspections 375
5.10 Sintef 376
5.11 Tesla 377
5.12 Tokyo Institute of Technology Research Laboratories 380
5.12.1 Tokyo Institute of Technology / Hirose Fukushima Lab ACM 382
5.12.2 Hirose Fukushima Lab ACM Hibot 382
5.13 Unifire 383
5.14 University of Michigan Mobile Robotics Lab Omnitread 385
5.15 Yaskawa 388
5.15.1 Yaskawa Revenue 389
5.15.2 Yaskawa Business 391
5.15.3 YASKAWA Electric Motion Control 392
5.15.4 YASKAWA Electric Robotics 393
5.15.5 YASKAWA Electric System Engineering 393
5.15.6 YASKAWA Electric Information Technology 393
5.15.7 Yaskawa / Motoman 393
5.15.8 Yaskawa Motoman 394
5.16 Selected Robot Companies 395
5.16.1 Selected Robot Companies 422
5.17 Selected List of University and Research Snake Robots 452
Table ES-1 39
Snake Robot Market Driving Forces 39
Table ES-2 40
Confined Spaces That Need Snake Shapes To Achieve Access 40
Figure ES-3 40
Snake-Arm Robot Controls 40
Figure ES-4 46
Nose Following Snake Robots 46
Figure ES-5 46
OC Robotics Snake-Arm Simulator 46
Table ES-6 48
Confined Spaces 48
Figure ES-7 50
Snake Robots Market Shares, Dollars, Worldwide, 2014 50
Figure ES-8 52
Snake Robot Market Forecasts, Dollars, Worldwide, 2015-2021 52
Figure 1-1 54
Mod Snake Robots Snake Robots Are Different. 54
Table 1-2 58
Serpentine Robot Applications 58
Table 2-1 62
Snake Robot Market Driving Forces 62
Table 2-2 63
Confined Spaces That Need Snake Shapes To Achieve Access 63
Figure 2-3 64
Snake-Arm Robot Controls 64
Figure 2-4 70
Nose Following Snake Robots 70
Figure 2-5 70
OC Robotics Snake-Arm Simulator 70
Table 2-6 72
Confined Spaces 72
Figure 2-7 74
Snake Robots Market Shares, Dollars, Worldwide, 2014 74
Figure 2-8 75
Snake Robots Market Shares, Dollars, Worldwide, 2014 75
Figure 2-9 76
HiBot Inspection of High-Voltage Power Lines 76
Figure 2-10 77
HiBot Balances on High-Voltage Power Lines 77
Figure 2-11 83
Medrobotics Snake Robot for Surgery 83
Figure 2-12 85
Snake Robot Market Forecasts, Dollars, Worldwide, 2015-2021 85
Table 2-13 86
Snake Robot Markets, Dollars, Worldwide, 2015-2021 86
Figure 2-14 87
HiBot 87
Figure 2-15 88
Snake Robots Total Market Forecasts, Units, Worldwide, 88
2015-2021 88
Table 2-16 89
Snake Robot Market Shipments, Units, Worldwide, 2015-2021 89
Figure 2-17 91
Industrial Snake Robot Total Market Forecasts Dollars, Worldwide, 2015-2021 91
Figure 2-18 92
Snake Robots Market Industry Segments, Energy, Construction, Mining,
Aerospace, Confined Space and High Wire, Dollars, Worldwide, 2015-2021 92
Figure 2-19 93
Snake Robots Market Segments, Dollars, Worldwide, 2015-2021 93
Figure 2-20 94
Snake Robots Market Segments, Percent, Worldwide, 2015-2021 94
Figure 2-21 95
Nuclear, Oil and Gas Snake Robots Market Forecasts, Dollars, Worldwide, 2015-
2021 95
Figure 2-22 97
Nuclear and Oil and Gas Snake Robot Total Market Forecasts Dollars, Worldwide,
2015-2021 97
Figure 2-23 99
Construction and Mining Snake Robots Market Forecasts, Units, Worldwide,
2015-2021 99
Figure 2-24 100
Construction and Mining Snake Robot Market Forecasts Dollars, Worldwide,
2015-2021 100
Figure 2-25 103
Surgery Snake Robots Market Forecasts, Units, Worldwide, 2015-2021 103
Figure 2-26 104
Medical Surgical Snake Robot Market Forecasts Dollars, Worldwide, 2015-2021
104
Figure 2-27 105
Military Snake Robots Market Forecasts, Units, Worldwide, 2015-2021 105
Figure 2-28 106
Military Snake Robot Market Forecasts Dollars, Worldwide, 2015-2021 106
Figure 2-29 107
Aerospace Snake Robots Market Forecasts, Dollars, Worldwide, 2015-2021 107
Figure 2-30 109
Aerospace Snake Robot Total Market Forecasts Dollars, Worldwide, 2015-2021
109
Table 2-31 111
Aerospace Snake Robot Functions 111
Table 2-32 112
Snake Robots Adopt Capabilities Of Industrial Robots 112
Figure 2-33 113
Confined Space / High Wire Snake Robots Market Forecasts, Units, Worldwide,
2015-2021 113
Figure 2-34 114
Confined Space and High Wire Snake Robot Market Forecasts Dollars,
Worldwide, 2015-2021 114
Figure 2-35 118
Snake Robots Regional Market Segments, Dollars, 2014 118
Table 2-36 119
Snake Robots Regional Market Segments, 2014 119
Table 3-1 122
Snake-Arm Robot Solution Profile 122
Table 3-2 123
OC Robotics Confined Space Target Markets 123
Figure 3-3 124
OC Robotics LaserSnake 124
Figure 3-4 126
OC Robotics Snake-Arm Robots For Aircraft Assembly 126
Table 3-5 130
OCRobotics Snake-Arm Tools Features 130
Table 3-6 131
OCRobotics Interchangeable End Effectors 131
Table 3-7 132
OCRobotics Snake Arm Aerospace Applications 132
Table 3-8 133
OCRobotics Snake Arm Aerospace Tasks That Could Be Considered For Aircraft
Manufacture 133
Figure 3-9 134
OC Robotics Snake-arms for security 134
Figure 3-10 135
OC Robotics Snake-Arms for Construction 135
Figure 3-11 136
OC Robotics Snake-arms for Industrial Application
136
Figure 3-12 137
OC Robotics Explorer Range 137
Figure 3-13 138
OC Robotics Explorer Range User Interface 138
Figure 3-14 139
OC Robotics Explorer Range Actuator Pack 139
Figure 3-15 140
OC Robotics Explorer Range Snake Arm 140
Figure 3-16 141
OC Robotics Explorer Arm Extensions 141
Figure 3-17 145
OC Robotics Extender Snake Range Of -Motion 145
Figure 3-18 146
OC Robotics Extender Models and Payloads 146
Figure 3-18 (Continued) 147
OC Robotics Extender Models and Payloads 147
Figure 3-19 148
OC Robotics Arms in Confined Spaces 148
Figure 3-20 152
Sarcos Guardian S Snake Robot Container Maneuvering 152
Table 3-21 154
Sarcos Guardian S Snake Robot Target Markets 154
Figure 3-22 155
Sarcos Guardian S Snake Robot Exoskeleton 155
Figure 3-23 155
Sarcos Guardian S Snake Robot 156
Table 3-24 157
Snake Robot Magnetic Track Functions 157
Table 3-25 157
Snake Magnetic Robot Structures Tracked 157
Figure 3-26 158
Sarcos Guardian S Snake Robot Climbing Ferromagnetic Surface Pole 158
Table 3-27 159
Sarcos Guardian S Snake Robot Intelligence Applications 159
Table 3-28 160
Sarcos Guardian S Snake Robot Military Applications 160
Table 3-29 161
Sarcos Guardian S Snake Robot Camera Applications 161
Table 3-30 162
Sarcos Guardian S Snake Robot Counter-Mine Warfare Applications 162
Table 3-31 163
Sarcos Guardian S Snake Robot Ship Systems Inspection Applications 163
Figure 3-32 164
Sarcos Robot Inspection Of Ship Ballast Tanks On Board 164
Figure 3-33 166
Sarcos Ballast Water Tanks Inspections 166
Figure 3-34 168
Sarcos Guardian S Snake Robot Traverse Capabilities 168
Figure 3-35 171
Medrobotics Flex® Retractor 171
Figure 3-36 174
Medrobotics Snakelike Robot Tested for Heart Surgery 174
Table 3-37 175
Medrobotics Medical Field Target Markets 175
Table 3-38 176
University of Michigan Omnitread Innovations: 176
Figure 3-39 177
University of Michigan Omnitread 177
Table 3-40 178
University of Michigan Mobile Omnitread Robotic Motion Capabilities 178
Table 3-41 181
University of Michigan Mobile Robotics Lab Omnitread Robotic Motion
Capabilities 181
Figure 3-42 182
Omnitread robot snakes 182
Figure 3-43 184
FLEXnav PPE System 184
Table 3-44 186
FLEXnav PPE System Features 186
Figure 3-45 188
Applied Robotics Technologies Typical Experimental Results: Position Errors After
120-160 M Travel On Moderately Rugged Terrain 188
Figure 3-46 191
HiBot Thesbot 191
Figure 3-47 192
HiBot 192
Figure 3-48 193
HiBot Expliner 193
Figure 3-49 194
HiBot ACM-R4H 194
Figure 3-50 195
HiBot ACM-R5 195
Figure 3-51 196
Hibot ACM-R5 Amphibious Robosnake 196
Figure 3-52 197
Hibot ACM-R5 Amphibious Robosnake 197
Figure 3-53 201
Tesla Snake Robot Car Charger 201
Table 3-54 202
Unifire Robotic Nozzles 202
Figure 3-55 203
Unifire Nozzles Articulated Robots 203
Table 3-56 204
Robotic Nozzles Benefits 204
Table 3-57 206
Robotic Nozzles Applications 206
Figure 3-58 207
Unifire Robotic Nozzles 207
Figure 3-59 209
Unifire Networked Robotic Nozzle System 209
Figure 4-1 213
OC Robotics Snake-Arm Robots Remote Car Inspection 213
Figure 4-2 215
Robotics Develops Snake-Arm Robots For Confined Spaces 215
Figure 4-3 216
OC Robotics Actuator Pack 216
Figure 4-4 217
OC Robotics Snake Arm 217
Figure 4-5 218
OC Robotics Snake Robot Tool 218
Table 4-6 219
OC Robotics Able To Snake Into Cluttered Environments 219
Figure 4-7 220
OC Robotics Extend Robot Arms With Elbows 220
Figure 4-8 221
OC Robotics Snake-Arm Robot Basics 221
Figure 4-9 226
OC Robotics Snake Curvatures 226
Figure 4-10 227
OC Robotics Protective Skins 227
Figure 4-11 228
OC Robotics Arm Materials Allow For Radiation, Heat, Vacuum, Magnetic Fields,
And Operations In Explosive Atmospheres 228
Figure 4-12 230
OC Robotics Snake-Arm Robots Extend Reach Of The Human 230
Figure 4-13 232
OC Robotics PipeSnake 232
Figure 4-14 233
OC Robotics Snake Robot Angle of Curvature 233
Figure 4-15 236
OC Robotics Snake-Arm Robots Aircraft 236
Figure 4-16 237
OC Robotics Snake-Arm Robot Extender 237
Figure 4-17 238
OC Robotics Snake-Arm Robot Made Up Of A Large Number Of Segments 238
Figure 4-18 239
CISST ERC Snake Robot 239
Figure 4-19 240
Bio-Robotics Lab Snake Robots that Climb 240
Figure 4-20 241
Bio-Robotics Lab Snake Robot Climbing 241
Figure 4-21 243
Carnegie Mellon Robotics Institute Door Opening Robot 243
Figure 4-22 244
Sintef Snake Robot Designed To Be Used To Put Out Fires 244
Figure 4-23 245
Sintef Anna Konda Robot Equipped With Nozzles 245
Figure 4-24 246
Sintef Aiko Snake Robot With Electric Motors 246
Figure 2-25 247
Sintef's Snake Robot 247
Figure 4-26 249
Sintef Anna Konda 249
Table 4-27 250
Anna KondaTechnical data 250
Figure 4-28 252
Sintef's Anna Konda Snake Robot 252
Table 4-29 254
Sintef's Anna Konda Firefighting Snakebot 254
Table 4-30 255
SINTEF Firefighting Snakebot Components 255
Figure 4-31 256
Norwegian Company Sintef Anna Konda 256
Table 4-32 257
SINTEF Firefighting Snakebot Target Markets 257
Figure 4-33 257
Sintef Aiko 257
Table 4-34 258
SINTEF / NTNU Aiko Technical data 258
Figure 4-35 259
Sintef Pneumosnake 259
Figure 4-36 262
Sintef PiKo 262
Figure 4-37 263
Sintef PiKo Robot For Vertical Movement 263
Figure 4-38 265
Department of Engineering Cybernetics at NTNU Pneumosnake - Snake Robot
With Pneumatic Bellows 265
Table 4-39 266
Department of Engineering Cybernetics at NTNU Technical data 266
Table 4-40 267
NTNU / SINTEF Next Generation Robotics for Norwegian Industry 267
Figure 4-41 268
Hirose Fukushima Lab ACM-R5 - Amphibious Robot Snake 268
Figure 4-42 270
Hirose Fukushima Lab ACM Slim Slime Robot 270
Table 4-43 271
Slim Slime ACM Robot Features 271
Table 4-44 271
Hirose Fukushima Lab ACM Slim Slime Robot Applications 271
Figure 4-45 273
Hirose Fukushima Lab ACM Serpentine Propulsion 273
Figure 4-46 274
Hirose Fukushima Lab ACM xSlim Slime Robot With a Child 274
Figure 4-47 275
Hirose Fukushima Lab ACM Slim Slime Robot Module Construction 275
Figure 4-48 276
Tokyo Institute of Technology / Hirose Fukushima Lab ACM Snake Like Trackers
276
Figure 4-49 277
Tokyo Institute of Technology / Hirose Fukushima Lab ACM Snake Like Creep
Motion Of Snake, Pedal Waves Of Snail And Limpet, Lateral Rolling, And Pivot
Turn277
Figure 4-50 278
Hirose Fukushima Lab ACM Robot Snake Modular Construction 278
Figure 4-51 279
Snake Robot Hirose-Fukushima Lab at Tokyo Institute of Technology 279
Figure 4-52 280
Hirose-Fukushima Lab at Tokyo Institute of Technology ACM-R5 280
Figure 4-53 281
Robot Hirose-Fukushima Lab at Tokyo Institute of Technology Amphibious Snake
Robot - ACM-R5 281
Table 4-54 282
DrGavin S7 Rectilinear Locomotion Snake Robot 282
Figure 4-55 283
DrGavin S7 Sensor Suite That Includes Detectors 283
Figure 4-56 284
DrGavin S5 Robot Snake Control System Electronics Functional Diagram 284
Figure 4-57 285
DrGavin Robot Snake 285
Figure 4-58 286
Merlin Robotics / Nottingham Trent University Air Robot Snake 286
Figure 4-59 287
Israeli Army Deploys Robot Snakes 287
Figure 4-60 289
Israeli Army Bomb Hirose Fukushima Lab Robot Snakes 289
Figure 4-61 291
Israeli Snake Robot 291
Figure 4-62 292
Merlin Robotics, Nottingham Trent University Robot Snake Dance 292
Figure 4-63 293
Snake Bot at the Carnegie Mellon 293
Figure 4-64 293
Carnegie Mellon Modular Bot 293
Figure 4-65 294
Carnegie Mellon Modular Bot Tricycle Riding 294
Figure 4-66 296
Carnegie Mellon Obstacle Climbing 296
Figure 4-67 296
Carnegie Mellon Fence Climbing 296
Figure 4-68 297
Carnegie Mellon Stair Climbing 297
Figure 4-69 299
CardioArm Biomedicine Snakelike Robots for Heart Surgery 299
Figure 4-70 301
Snake Robot Helps Wounded Soldiers 301
Figure 4-70 303
Hughes Aircraft R7 Early Robotic Snake 303
Figure 4-71 304
British Military Reconnaissance Robot Can Be Dropped From A Helicopter 304
Figure 4-72 305
University of Southampton Anaconda Rubber Snake Generates Power From
Waves 305
Figure 4-73 306
InnoSTARâ„¢ Robotic Kit 306
Figure 4-74 308
Applied Robotics Technologies, LLC Fiber Optic Gyros Function Of Rate Of
Rotation And Temperature 308
Figure 5-1 313
Fanuc Welding Robot 313
Figure 5-2 315
Fanuc Industrial Robots 315
Figure 5-3 316
Fanuc Global Network 316
Figure 5-4 320
Fanuc's Organization 320
Figure 5-5 323
Fanuc Revenue 323
Figure 5-6 324
Fanuc Revenue 324
Figure 5-7 338
Kuka Vision for Expansion of Robotic Markets 338
Figure 5-8 340
Kuka Customers 340
Figure 5-9 342
Kuka Regional (10) and Segment (7) Focus 342
Figure 5-10 344
Kuka Positioning with Smart Tools 344
Figure 5-11 348
Kuka Positioning in Robotics and Systems 348
Table 5-12 351
Medrobotics Positioning 2015 351
Table 5-13 356
Medrobotics Cardiac Surgery Improvements 356
Table 5-14 358
Medrobotics Snake Robot Technologies For Use In A Wide Range Of Surgical And
Interventional Applications 358
Table 5-15 359
Medrobotics Snake Robot Technologies Specialist Areas Served 359
Table 5-16 362
Mitsubishi Electric FA Core Competencies 362
Figure 5-17 365
OC Robotics 365
Figure 5-18 367
OC Robotics Conducts Inspections Within CANDU Reactors 367
Figure 5-19 369
OC Robotics Snake-Arm Robot Technology 369
Table 5-20 371
Sarcos Robotics Systems Positioning 371
Table 5-21 372
Sarcos Robotics Systems Target Markets 372
Table 5-22 373
Sarcos Snake Robot Unmanned Ground Vehicle (UGV) Target Markets 373
Figure 5-23 381
Tokyo Institute of Technology Electrochemistry Spextroscopic Techniquees 381
Figure 5-24 384
Unifire Robotic Nozzle Technologies 384
Table 5-25 386
University of Michigan Mobile Robotics Lab Areas Of Interest 386
Figure 5-26 392
YASKAWA Electric Group Businesses 392

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