Attitude stability of a cable driven balloon robot

Fumiaki Takemura, Kiyoshi Maeda, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently. We have developed a cable driven balloon robot for information acquisition from the sky during disaster rescue and recovery operations. The balloon, from which hang several sensors (sensor unit, SU), uses "a natural shape balloon". Three cables connect the SU, and the balloon, with its sensors, is driven by expansion and contraction of the cable length. Cameras and several sensors or wireless relays are loaded onto the SU. The attitude stability of the SU is required to eliminate camera shaking resulting from wind. Such stability is necessary for high-precision information collection because this robot is used in the open air. This study verifies the attitude stability of an SU using a cable arrangement between the balloon and the SU; it statically calculates the movable scope of the SU at an arbitrary wind speed and direction.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3504-3509
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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