Smooth creeping actuator by tip growth movement aiming for search and rescue operation

Tsukagoshi, Hideyuki; Arai, Noriko; Kiryu, Ichiro; Kitagawa, Ato

doi:10.1109/icra.2011.5980564

Cited by 18 publications

(2 citation statements)

References 12 publications

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“…Flexible continuum robots are useful for exploring intricate spaces, and their large body shape deformations would allow them to inspect large areas. Many researchers have applied continuum robots to inspection tasks, such as in debris or pipes [1]- [5]. Some of these robots are commercially available.…”

Section: Introductionmentioning

confidence: 99%

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

et al. 2022

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Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can expand the directionality of net force against torsion; however, it has not yet been tested on a flying robot. In this study, we achieved the large shape deformations of a jet-actuated flying continuum robot using an improved passive rotating nozzle unit that can handle three-dimensional (3D) force. First, we developed a model of the improved nozzle unit and confirmed that the unit can increase the net force direction. Herein, the design strategy for the rotary damper to handle the instability that arises from motor limitations is discussed. The stabilized flight controller was applied to a continuum robot with the nozzle unit. Simulation results showed that the 2 m robot could perform large head bends (from 0 • to 135 • ). Although the previous fixed nozzle unit twisted by approximately 40 • , which made the extra movable range of the nozzles effectively zero, the proposed nozzle unit maintained the movable range to avoid twisting. We experimentally confirmed that the nozzle unit can expand the direction of the 3D net force, and that a large shape bending of approximately ±90 • can be achieved using a 1.6 m flying robot.INDEX TERMS Fluid jet, continuum robot, mechanism design, dynamics.

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Section: Introductionmentioning

confidence: 99%

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

et al. 2022

View full text Add to dashboard Cite

show abstract

“…To overcome this knowledge gap, we provided a control system for biomimetic soft continuum robots imitating vines to avoid obstacles with a swift response actively. The inverted material passing through the center is the "waiting cell" for tip growth [8,9,17,18], and the release of the main body stored between an electromagnet unit causes asymmetric growth like vines expanding their degree of freedom. To improve the controllability of the robot, electromagnets are controlled by using chip modules with different signal addresses to recognize and navigate the signal to the corresponding actuators, which realizes the decoupling control of the actuators, making the controllable continuous steering possible.…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control System

Zhang

et al. 2021

Research

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Tip-extending soft robots, taking flexible film or rubber as body material and fluid pressure as input power, exhibit excellent advantages in constrained and cluttered environments for detection and manipulation. However, existing soft continuum robots are of great challenges in achieving multiple, mutually independent, and on-demand active steering over a long distance without precise steering control. In this paper, we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three dimensions. Moreover, steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided, and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is established. We demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained environment. It is established that the robot exhibits great advantages in active consecutive steering over a long distance, high controllability in completing more complex path planning, and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle detection. The bionic soft robot shows great promise for use in environment sensing, target detecting, and equipment servicing.

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Air-Jet Levitation of Continuum Robots: Stable Head Floating by Passive Thrust Vectoring for Enhancing Mobility

Ambe,

Kamio,

Yamauchi

et al. 2023

J Intell Robot Syst

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Flexible, continuum-type robots can access narrow spaces in debris areas during search-and-rescue missions. However, their current problem is the lifting capability of the head, which is necessary to surmount the rubble. This study proposes a passive-thrust vectoring method to stabilize head levitation for air-jet-actuated, long, continuum robots, and thus enhance their step-climbing abilities. An air jet can generate a thrust force that is sufficient for head levitation. A critical issue in levitation involves the backward bending of the head without using any air-jet control; however, thrust control is inappropriate because of the delay caused by the long channel. Therefore, the proposed method maintains the thrust direction constant. Sufficient conditions for global stability are derived and confirmed via dynamic simulations. The proposed method is simple and can be mechanically realized with a passive head-bending mechanism, thus contributing to a lightweight design. Experiments demonstrated that the developed air-floating-type, 7-m long robot, can achieve stabilized head levitation, and that the robot can climb a step with a height of 250 mm. Robot demonstrations in rubble justify the robot’s capacity to surmount the rubble. This passive-thrust vectoring method is expected to contribute to the future enhancement of the mobility of continuum robots owing to its simplicity and practicality.

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Smooth creeping actuator by tip growth movement aiming for search and rescue operation

Cited by 18 publications

References 12 publications

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control System

Air-Jet Levitation of Continuum Robots: Stable Head Floating by Passive Thrust Vectoring for Enhancing Mobility

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