Tube-type active scope camera with high mobility and practical functionality

Namari, Hiroaki; Wakana, Kazuhito; Ishikura, Michihisa; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/iros.2012.6386172

Cited by 21 publications

(15 citation statements)

References 11 publications

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“…This locomotion was well described by a slip-stick model [136]: in this representation, the friction force was reduced due to the rotation of the mass, which pushed toward (or off ) the ground during half-rotation. Within this category, we can find beam-like robots that exploit resonance frequency to save energy [137], adaptable balloon robots that can vary their vibration frequency and their shape to adapt to different substrates [138], worm-like robots capable of vibration-based locomotion or two-anchor crawling [139,140] and a multi-gait robot that is also capable of jumping [141].…”

Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

237

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

237

147

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show abstract

“…In this situation, we can regard that the ASC has same potential as much as conventional mobility performances in horizontal exploration [8], [11]. On the other hand, Condition (b), (c), and (d) are proper conditions for the vertical explorations as follows.…”

Section: Issues On Vertical Exploration With Ascmentioning

confidence: 98%

“…In addition, the ciliary vibration can also reduce the friction force with obstacles when pulling scope cable [9]. In this study, we used the same structure of the tube type ASC [11]. The Active Scope Camera (ASC) developed in this study has a similar structure to the tube type ASC, which is proposed by the authors [11].…”

Section: B System Proposedmentioning

confidence: 99%

“…In this study, we used the same structure of the tube type ASC [11]. The Active Scope Camera (ASC) developed in this study has a similar structure to the tube type ASC, which is proposed by the authors [11]. This structure enables to eliminate any rigid projections on the scope cable because all the motors and wires can be installed inside the tube.…”

Section: B System Proposedmentioning

confidence: 99%

See 1 more Smart Citation

Remote vertical exploration by Active Scope Camera into collapsed buildings

Fukuda¹,

Konyo²,

Takeuchi

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Remote robotic explorations for collapsed buildings in a severe disaster are demanded. However, rescue robots cannot approach the rubble due to safety risks. This study proposes a remote vertical exploration system for collapsed buildings with a robotic inspection system hoisted by a crane. An Active Scope Camera (ASC) has many advantages for the vertical exploration such as a light and flexible continuum body to produce distributed driving forces. The purpose of this paper is to confirm the feasibility of the vertical exploration system with the ASC. The vertical explorations have proper problems related to contact and hanging conditions of the scope cable. We developed a new ASC that has a two-step bending mechanism to produce larger head movement in multi-DOF. We also evaluated the performances of the prototype when the contact areas were small. Finally, we conducted a remote vertical exploration experiments at the simulated collapsed building in 6 m height. The robot could explore in six different pathways by changing head directions and running the rubbles within seven trials. The experimental results showed that the proposed system has high potential to get inserted in the deep area in the rubble.978-1-4799-6934-0/14/$31.00 ©2014 IEEE

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“…The remote operator steers this robot to the target area by using own locomotion and his insertion, and searches the target area where the conventional snake-like robots cannot get into. [9][10][11] Active Hose-II [12] and Active Scope Camera (ASC), [13,14] which are hose-shaped robots, were developed. Active Hose-II has small wheels to move.…”

Section: Introductionmentioning

confidence: 99%

Posture estimation of hose-shaped robot by using active microphone array

Bando¹,

Otsuka²,

Mizumoto³

et al. 2015

Advanced Robotics

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Hose-shaped rescue robots have been developed for searching narrow spaces such as under collapsed buildings. The posture estimation independent of the past history is critical, because conventional inertial-sensor-based posture estimation has two main problems; a cumulative error problem peculiar to inertial sensors, and a sudden posture change problem caused by external forces. For coping with the two problems, we developed a novel posture estimation method by putting an active microphone array, a set of microphones and loudspeakers, on the robot. The method calculates the time difference of arrival (TDOA) of the reference signal emitted from one loudspeaker, and estimates the posture from the distance obtained by TDOA. This concise method still has three problems: (1) external noise, (2) reverberation and reflection, and (3) obstacles. These problems are tackled by (1) TSP signal, (2) GCC-PHAT and a threshold-based onset detection, and (3) rejecting incorrect onset times, respectively. Experiments with simulated sounds and actual recordings demonstrate that the method attains the performance of estimation comparable to that of conventional methods, that is, less than 20 cm of the tip position error. Even without historical data, the method attains the similar performance while conventional methods fail.

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Tube-type active scope camera with high mobility and practical functionality

Cited by 21 publications

References 11 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Remote vertical exploration by Active Scope Camera into collapsed buildings

Posture estimation of hose-shaped robot by using active microphone array

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