Ciliary Vibration Drive Mechanism for Active Scope Cameras

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

doi:10.20965/jrm.2008.p0490

Cited by 30 publications

(9 citation statements)

References 12 publications

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“…Experimental conditions were three contact angles ( α= [10,30,45]), four vibration power (no vibration, low vibration, medium vibration, and high vibration). Each condition was measured 5 times.…”

Section: B Friction Reduction Performance Of Scope Cable In Small Comentioning

confidence: 99%

“…To solve the above problems, we propose a vertical exploration system using an Active Scope Camera (ASC), which the authors have been developed [10]. The ASC is a special video scope developed for search and rescue operations.…”

Section: Introductionmentioning

confidence: 99%

“…3. Propulsion principal of ciliary vibration drive [10]. rescue activities and showed potential for practical uses [9], conventional operations were supposed to be mainly used for collapsed floor explorations in horizontal directions.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: B Friction Reduction Performance Of Scope Cable In Small Comentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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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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“…In the ciliary vibration drive, cilia covering the entire surface of the cable body get vibrated by vibration motors. The cilia then repeat bending and recovering motion against the road surface and generate driving force along the cable [7] (Fig. 1).…”

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

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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.

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“…It was invented by the authors' group by the support of MEXT DDT Project and Grant-in-Aid for Scientific Research. ASC can enter narrow gaps 3 cm wide and actively move 8 m deep to search victims by a CCD camera at the tip of its actuated cable [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%