Development of a Jumping &amp; Rolling Inspector to Improve the Debris-Traverse Ability

Tsukagoshi, Hideyuki; Mori, Yotaro; Sasaki, Masashi; Tanaka, Takahiro; Kitagawa, Ato

doi:10.1299/kikaic.70.1068

Cited by 6 publications

(3 citation statements)

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“…[1] It consists of throwing the inspector inside the building, and this inspector uses wheels to efficiently roll on surfaces, it can jump over obstacles larger than its body, and it can also recover its posture from any landing position ( Figure 1). The rolling motion is driven by an electric motor, while the jump is driven by a pneumatic cylinder (Figure 2), and with this coupled drive the robot is able to traverse obstacles higher than three times its body size.…”

Section: Roll and Jump Mobile Inspectormentioning

confidence: 99%

Magnetic Brake Cylinder to Enhance Traverse Ability and Its Application to Rescue Robots

Watari

Tsukagoshi

Kitagawa

et al. 2008

Proceedings of the JFPS International Symposium on Fluid Power

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In this paper, a novel pneumatic cylinder is proposed, named Magnetic Brake Cylinder. It is composed of a tank, a pneumatic cylinder, and a permanent magnet, and with this, the piston is held by the attractive force of the magnet until the pressure inside the tank is very high, offering a higher driving power than an ordinary cylinder when using the same pressure source. In addition, a control method of its driving power is introduced. The developed actuator is then mounted into two types of rescue inspectors: a rolling and jumping rescue robot, which uses a cylinder to jump over obstacles, and a throw and collect rescue inspector, which deploys with the cylinder a child machine over high obstacles . Both developed prototypes showed higher jumping and throwing height than when using an ordinary cylinder, proving to be an option of effective enhancement of traversing ability for pneumatically powered robots.

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Section: Roll and Jump Mobile Inspectormentioning

confidence: 99%

Magnetic Brake Cylinder to Enhance Traverse Ability and Its Application to Rescue Robots

Watari

Tsukagoshi

Kitagawa

et al. 2008

Proceedings of the JFPS International Symposium on Fluid Power

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Section: Roll and Jump Mobile Inspectormentioning

confidence: 99%

Rescue inspectors to enhance accessibility and traverse ability using Magnetic Brake Cylinder

Watari

Tsukagoshi

Kitagawa

2008

2008 SICE Annual Conference

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Two types of rescue inspectors are presented in order to enhance accessibility of disastrous sites. One is a rolling and jumping mobile inspector, which uses a pneumatic cylinder to jump over obstacles, and the other one is the throw and collect type rescue inspector, which deploys a child machine over high obstacles using a pneumatic cylinder. In order to enhance their traversing ability, in this paper, a novel pneumatic cylinder is proposed, named Magnetic Brake Cylinder (MB Cylinder hereafter), which is composed of a tank, a pneumatic cylinder, and a permanent magnet. With this structure, the piston is held by the attractive force of the magnet until the pressure inside the tank is very high, offering a higher driving power than an ordinary cylinder. Its control method and the optimization process of its size are also introduced. The MB cylinder is then mounted into the presented inspectors, which show a higher jumping and throwing height than when using an ordinary cylinder, proving to be an efficient option of enhancement.

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“…Because jumping is a very effective method of maneuvering, especially over obstacles, jumping is used ubiquitously by animals and insects as a means of locomotion. For this reason, there are a variety of jumping robots, most of which have rigid bodies [1][2][3] . A flexible body exhibits high stability when moving in rough terrain.…”

Section: Introductionmentioning

confidence: 99%

Jumping via Robot Body Deformation - Mechanics and Mechanism for Higher Jumping

Miyazaki

Hirai

2008

Advances in Mobile Robotics

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As jumping is an effective method of moving over rough terrain, there is much interest in building robots that can jump. Deformation of a soft robot's body is an effective method to induce jumping. Our aim was to develop a jumping robot by deformation of a circular shell made of spring steel to result in the highest jump. Higher jumping requires enlargement of the contact area between the robot body and the floor. We developed a jumping mechanism that utilized a dish shape to maximize contact area.

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Development of a Jumping & Rolling Inspector to Improve the Debris-Traverse Ability

Cited by 6 publications

References 0 publications

Magnetic Brake Cylinder to Enhance Traverse Ability and Its Application to Rescue Robots

Magnetic Brake Cylinder to Enhance Traverse Ability and Its Application to Rescue Robots

Rescue inspectors to enhance accessibility and traverse ability using Magnetic Brake Cylinder

Jumping via Robot Body Deformation - Mechanics and Mechanism for Higher Jumping

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