Abstract
As approaching for the victims in the disaster, there has been normally used the fiber scopes. But when searching deeply inside the rubble there increases the grinding friction between the rubble and the scope, therefore there has been demanded on the way of searching into 5m depth of the rubble. In this paper, the author designs the mechanism which can run into the rubble without the grinding friction and also can control the direction along the complex rubble environment. At the first step, the author suggests "Drawn-out type Hose Robot" and reports the drawn-out motion of going straight and curving.
