Abstract
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. However, it is difficult for them to directly access fire sources because their mobility is limited. Specifically, existing robots are large and heavy. Therefore, we propose a novel hose-type robot, which can fly directly into the fire source via a water jet. First, to control the reaction force for stable flying, we developed a nozzle module. By combining two nozzles whose outlet direction can be controlled, the resultant reaction force can be controlled. Finally, we developed a robot with a nozzle module and conducted an experiment. The experiment demonstrates that a robot with a length of approximately 2 m can fly stably in the air by leveraging the water jet. In addition, the head direction can also be controlled.
Original language | English |
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Article number | 8255553 |
Pages (from-to) | 1128-1135 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 3 |
Issue number | 2 |
DOIs | |
Publication status | Published - 2018 Apr |
Keywords
- Aerial systems
- applications
- field robots
- hydraulic/pneumatic actuators
- search and rescue robots
- soft material robotics
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence