能動スコープカメラの探査可能領域を分析するためのモデルの提案

抄録

Active Scope Camera (ASC) is the robot video scope that can move by itself to probe narrow gaps for rescue missions. ASC has the ciliary vibration drive mechanism which generates a propellant force to travel in rubble. Nowadays, we also propose a method to lift up the tip of the ASC stably by using air jet and a flexible passive parallel mechanism, which enabled ASC to climb over steps. However, the mobility of the active scope camera is not evaluated quantitatively. Thus, it is not clear where the active scope camera can reach depending on the environments. In this paper, we proposed a model to calculate the region where the ASC can reach.