浮上型索状ロボットのためのワイヤを用いた制振に関する研究

抄録

Disaster response, especially fire-fighting and rescue, is highly risky for firefighters engaged in action. As a result, many robots intended for fire-fighting have been proposed. We proposed a novel hose type robot, which can fly directly into the fire source via a water-jet and demonstrated that a robot with a length of approximately 2 m can fly the air by leveraging the water jet. However, the robot had some problems. The lack of control input of the robot could not suppress several modes of body oscillation , the body of the robot collided with the ground as the body lengthens and slacks , the drift errors of installed IMU sensors prevented the robot from flying stably over 5 minutes. In this study, we propose the mechanism using the wire to solve those three problems.