Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera

Isaki, Kazuya; Niitsuma, Akira; Konyo, Masashi; Takemura, Fumiaki; Tadokoro, Satoshı

doi:10.1109/iros.2006.281829

Cited by 35 publications

(19 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although the principle is very interesting and worthy of investigation from a scientific point of view, the maximum thrusting force and achieved velocity are usually insufficient for practical search and rescue operations. [3] AC-AJ type Souryu-V [4] ACM-R3 [1] Gembu II [9] AW-PJ type PW-AJ type As for active propulsive mechanisms, there are three typical devices such as wheel-type [3], crawler-type [4]- [7] and cilia-type [8]. These devices can achieve larger propulsive force and velocity by utilizing the long contact area between the trunk and the ground.…”

Section: Introductionmentioning

confidence: 99%

Development of multi-wheeled snake-like rescue robots with active elastic trunk

Suzuki

Nakano

Endo

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

A practical robot for search and rescue operation is demanded. We believe that one of the most promising robot is a snake-like robot with a slim and active trunk. This paper proposes a new multi-wheeled snake-like robot with active elastic trunk. We choose active wheels for the propulsive device due to mechanical robustness and simplicity, and increase locomotion capability by serially arranging many active wheels along to the trunk. We also propose a new mechanism for the trunk which satisfies both active bending motion and passive compliance. The active elastic trunk consists of deformable elastic segments made of sponge and rigid (or semi-rigid) segments, where active wheel is attached, stacked in layers. The active bending motion is generated by pulling the cables passing through the trunk from the head to tail. We develop three prototypes named "Souryu-VII", "Souryu-VIII" and "Souryu-IX". The mechanical design and features for each prototypes are explained and their performances are evaluated through the experiments with various measures.

show abstract

Section: Introductionmentioning

confidence: 99%

Development of multi-wheeled snake-like rescue robots with active elastic trunk

Suzuki

Nakano

Endo

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…However, there are only a few movement mechanisms that can search narrower spaces less than 50 mm in diameter under rubble. Authors have developed Active Scope Camera (ASC) which can generate distributed driving force throughout the scope camera by a ciliary vibration drive [5] [6]. In the ciliary vibration drive, cilia covering the entire surface of the cable body get vibrated by vibration motors.…”

Section: Introductionmentioning

confidence: 99%

Development of flexible pneumatic actuator for Active Scope Camera

Wakana¹,

Ishikura²,

Konyo³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

Self Cite

View full text Add to dashboard Cite

Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There are many crooked narrow pathways inside collapsed houses and under rubble. ASC's search range could be vastly expanded if ASC can run in such environments.In this paper, we developed a flexible linear actuator, which has the bellows structure and the hollow structure, for ASC in order to solve these problems. The actuator was able to generate large force more than 6 N from 60 kPa of applied pressure even if it was curved at 200 mm bending radius. Moreover, we developed a flexible linear inchworm drive using this actuator. The flexible linear inchworm drive keeps the running characteristics on the various road surfaces of the conventional linear inchworm drive. The minimum width of 80 deg crooked pathway that the flexible linear inchworm drive could run through was 60 mm, which was one-thirds narrower than that of the conventional inchworm drive.

show abstract

“…Isaki and Niitsuma et al [10], [11] have designed an active scope camera using ciliary vibration drive mechanism. Ciliary tapes actuated by vibration motors are attached to an industrial scope camera to get the distributed driving force around.…”

Section: Introductionmentioning

confidence: 99%

Design and preliminary experiments of a robot for searching interior of rubble

Chen

Wang

Lü

et al. 2011

2011 IEEE International Conference on Systems, Man, and Cybernetics

View full text Add to dashboard Cite

Since most of the victims of the big disasters are located in the interior of the rubble piles and only a small fraction of them can survive finally, robots that can search in confined spaces will locate and save more lives. This paper introduces a novel designed robot for search in narrow space where people and traditional robot can not enter due to size or toxic environment. With tendon-sheath transmission mechanicsm, the steering head is actuated by servos remotely. No motors or control units are mounted on the joints. The robot is 3 m long and only 40 mm in diameter. A CCD camera is mounted in front of the robot to search the victims. Experiments shown the robot can search interior of the rubble and be retrieved safely.

show abstract

Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera

Cited by 35 publications

References 6 publications

Development of multi-wheeled snake-like rescue robots with active elastic trunk

Development of multi-wheeled snake-like rescue robots with active elastic trunk

Development of flexible pneumatic actuator for Active Scope Camera

Design and preliminary experiments of a robot for searching interior of rubble

Contact Info

Product

Resources

About