Active scope camera for urban search and rescue

Hatazaki, Kazunari; Konyo, Masashi; Isaki, Kazuya; Tadokoro, Satoshı; Takemura, Fumiaki

doi:10.1109/iros.2007.4399386

Cited by 70 publications

(31 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…6, which indicates that the crawler unit can propel itself in a confined space such as on a v-groove and inside a pipe. As a pipe inspection robot, wheel robots [24][25] and robots driven by vibration mechanisms [26] have been developed. Although these robots move comparatively fast, it is difficult to secure large frictional force for these robots, because the contact area between the drive part of the robot and the pipe is low.…”

Section: Methodsmentioning

confidence: 99%

Development of Worm-Rack Driven Cylindrical Crawler Unit

Nagase

Suzumori

Saga

2013

JAMDSM

View full text Add to dashboard Cite

In Japan, since the Great Hanshin-Awaji Earthquake, attention has surrounded the development of disaster victim relief activity using robots. Development of a robot that can adapt to various environments in irregular places, rubble, and confined areas is necessary. A wheel movement type robot, a robot in the shape of a snake and a multi-leg robot are all described in the relevant literature as rescue robots that are currently studied. Among them, the tracked crawler robot can travel by traversing uneven ground flexibly with a crawler belt attached firmly to the ground surface. Although conventional crawler robots have high efficiency and/or high ground-covering ability, they require a comparatively large space to move. In this study, a cylindrical crawler robot based on worm-rack mechanism, which does not need large space to move and which has high ground-covering ability, is proposed. Experiments have demonstrated smooth operation and a forward movement of the robot by application of voltage to the motor. In addition, performance tests show that it can propel itself in confined spaces and in irregular areas. This paper reports the structure, drive mechanism, prototype, and experimental evaluation.

show abstract

Section: Methodsmentioning

confidence: 99%

Development of Worm-Rack Driven Cylindrical Crawler Unit

Nagase

Suzumori

Saga

2013

JAMDSM

View full text Add to dashboard Cite

show abstract

“…A consequence is that their penetration depth is very limited, usually below a couple of meters. New developments such as the active scope camera of 4 m length presented by Hatazaki et al bypasses these limitations [5]. However, another limitation of this device is the user interface, which does not provide any information on position and orientation of the head.…”

Section: B Semi-active Video Probementioning

confidence: 99%

Lessons learned from german research for USAR

Hamp

Reindl

Kleiner

2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

View full text Add to dashboard Cite

-We present lessons learned in USAR research within the framework of the German research project I-LOV. After three years of development first field tests have been carried out by professionals such as the Rapid Deployment Unit for Salvage Operations Abroad (SEEBA). We present results from evaluating search teams in simulated USAR scenarios equipped with newly developed technical search means and digital data input terminals developed in the I-LOV project. In particular, the "bioradar", a ground-penetrating radar system for the detection of humanoid movements, a semi-active video probe for rubble pile exploration of more than 10 m length, and the decision support system FRIEDAA were evaluated and compared with conventional search methods. Results of this evaluation indicate that the developed technologies foster advantages in USAR, which are discussed in this paper.

show abstract

“…1) Grinding friction decreased type 2) Body crawling type 3) Inner body drawing-out type 1) Grinding friction decreased type This kind of robot can move smoothly while decreasing the sliding friction between the robot body and debris environment. During movement, Active Scope Camera [3] decreases sliding friction by vibrating the thin hair around the robot using the vibrating motor.…”

Section: Device Conceptmentioning

confidence: 99%

“…Through these past examples, we can see that technology that moves the hose with decreasing sliding friction as much as possible between the surface of the hose and the rubble is an indispensable factor. Accordingly, there has been suggested some new types of robots which can move without grinding friction but only have straight motion [2], or can control motion while decreasing the grinding friction by vibrating the thin hair attached to its surface [3]. However it's necessary for the hose to pass through the debris in narrow spaces like Figure 1 while controlling the direction actively.…”

Section: Introductionmentioning

confidence: 99%

Grow-Hose-I: A Hose Type Rescue Robot Passing Smoothly Through Narrow Rubble Spaces

Kiryu

Tsukagoshi

Kitagawa

2008

Proceedings of the JFPS International Symposium on Fluid Power

View full text Add to dashboard Cite

This paper presents a hose type rescue robot with new movement abilities, for passing through narrow spaces and searching for victims under debris. At the disaster site, the fiber scope and the pole equipped with a camera on its head were previously used to search for victims. However, there are problems with going into complex curved and rugged spaces due to the friction between the robot body and surface of debris. So in this study, the hose type robot named Grow-hose-I, growing with a rapid motion type hose, is proposed which can move smoothly with no friction between the hose and the ground surface. The hose is composed of flat tubes driven by pneumatics, and it can be actively curved to enable steering.

show abstract

Active scope camera for urban search and rescue

Cited by 70 publications

References 10 publications

Development of Worm-Rack Driven Cylindrical Crawler Unit

Development of Worm-Rack Driven Cylindrical Crawler Unit

Lessons learned from german research for USAR

Grow-Hose-I: A Hose Type Rescue Robot Passing Smoothly Through Narrow Rubble Spaces

Contact Info

Product

Resources

About