2P1-A02 がれきと摩擦なく推進・方向操舵可能なレスキュー探査ホース:Grow-hose-I : 第3報:推進力の検証(サーチ&レスキューロボット・メカトロニクス)

抄録

This paper presents a hose type rescue robot with a new mobile method which is aimed to pass through narrow spaces and to search victims under debris. At the disastrous site, the fiber scope and the pole equipped with a camera on its head were previously used to search for victims. However, they possess the problem to go into the complex curved and rugged spaces due to the friction between these tools and the mobile surface. In this study, the hose type robot named Grow-Hose-I, Growing with 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 steer the direction. The validity of the proposed method was experimentally verified by the developed model.