Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

Maezawa, Yukihiro; Ambe, Yuichi; Yamauchi, Yu; Konyo, Masashi; Tadakuma, Kenjiro; Tadokoro, Satoshi

doi:10.1109/lra.2023.3318189

Cited by 2 publications

(2 citation statements)

References 18 publications

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“…Torus-shaped structures for extension and steering have also been proposed (Hawkes et al, 2017). Jet-actuated mechanisms that can directly generate translational forces to steer and propel by expelling fluid jets have recently been developed (Silva Rico et al, 2017;Ishii et al, 2018;Fujikawa et al, 2019;Ambe et al, 2022;Yamauchi et al, 2022a;Yamauchi et al, 2022b;Ambe et al, 2023;Huynh et al, 2023;Maezawa et al, 2023).…”

Section: Related Studymentioning

confidence: 99%

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Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

Yamauchi,

Maezawa,

Ambe

et al. 2023

Front. Robot. AI

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In a fire outbreak, firefighters are expected to rapidly extinguish fires to stop the spread of damage and prevent secondary disasters. We proposed the concept of a dragon firefighter (DFF), which is a flying-hose-type firefighting robot. We developed a 3.6 m long DFF equipped with two nozzle units and achieved stable flight. However, the system was not yet completed because the root of the robot, which should have been operated remotely, was operated manually. In addition, the system’s reliability was insufficient to successfully repeat the demonstration several times. The development of a robot demonstration system is crucial for the practical application of such a firefighting robot. In this study, we developed a demonstration system for a remotely controllable 4 m flying firehose robot for demonstration at the World Robot Summit 2020 (WRS 2020) opening ceremony in Fukushima as a milestone. This paper focuses on the following issues: 1): installation of the remotely controllable mobile base, 2): redesign of the water channels (the sizes of nozzle outlets) to get enough thrusts to fly with a fire engine, 3): development of nozzle units with a larger movable range (1.5 times larger than the conventional nozzle) in addition to waterproofing technique to improve system reliability, and 4): redesign of a passive damping mechanism to ensure better stability. Thus, a firefighting demonstration was successfully conducted at the opening ceremony of the World Robot Summit 2020 in Fukushima, Japan, and we discuss the lessons learned through the demonstration. We found that the developed DFF system incorporating a mobile base could achieve remote fire extinguishing.

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Section: Related Studymentioning

confidence: 99%

“…We have already shown the possibility of damping the oscillation without relying on this mechanism. For example, we have found that the flowing water can dampen the higher modal oscillations (Ambe et al, 2022) or that the disturbance rejection controllers can be applied to achieve better damping (Maezawa et al, 2023).…”

Section: Demonstrationmentioning

confidence: 99%