Fundamental evaluation experiment of passive damping mechanism using wire for aerial hose type robot

Abstract

The authors 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 1.8 m can fly the air by leveraging the water jet.That named Dragon Fire Fiter (DFF). However, DFF had some problems. Most important problem is that The lack of control input of the robot could not suppress several modes of body oscillation. In this study, the authors propose the passive mechanism using the wire to solve that problem．The authors also model the mechanism to evaluate the proposed mechanism.